CN108170084A - A kind of agricultural equipment automatic control system and product - Google Patents

Abstract

The present invention relates to a kind of agricultural equipment automatic control system and products；The present invention solves the problems, such as that existing agricultural machinery cannot carry out automation year industry using electric energy, and carrying out automated job using electric energy for agricultural equipment provides driving and control system and product.The work of a kind of agricultural equipment automatic control system and product of the present invention is driving with controlling agricultural equipment according to the resemblance automatic order of operating area (or operating area crops) the work operations needed for region that fulfil assignment；The agricultural equipment automatic control system and product of the present invention can drive and control an agricultural equipment to be automatically performed the various operations that crop cultivation receives process management；The agricultural equipment automatic control system and product of the present invention can also drive and control a variety of one or more agricultural equipments are automatically performed the various operations that crop cultivation receives process management.

Description

A kind of agricultural equipment automatic control system and product

Technical field

The present invention relates to a kind of systems of agricultural machinery technological field, more specifically, are related to a kind of agricultural equipment certainly Dynamic networked control systems and product.

Background technology

Existing agricultural equipment is a kind of mechanical agricultural equipment, when existing agricultural equipment work be using oil as The energy using internal combustion engine as driving force, makees fricting movement by running gear in the farmland of operating area or native the earth's surface, Due to friction coefficient height, huge frictional force is generated, huge petroleum resources is consumed and flogs a dead horse, discharge large quantity of exhaust gas, serious shadow Ring the service life and natural environment of the machinery of the various productions of agricultural；It was received in the various productions of agricultural or agriculture, the cultivation of woods crop A variety of agricultural equipment work is needed to be serviced for it during thread management, existing agricultural equipment largely lacks adaptability, makes The various productions of agricultural or agriculture, the cultivation of woods crop receive process management and lack systematicness, seriously affect the development of agriculture industrialization.

Invention content

The purpose of the present invention is realizing the various production automations of agricultural, make agricultural equipment with high intelligence, at high speed, efficiently Rate characteristic carries out automatically working for agricultural equipment and provides a kind of automatic control system and product, makes agricultural equipment using electricity Can, motor and track make fricting movement in the farmland of operating area or native the earth's surface when effectively overcoming the agricultural equipment to work, it is real Existing agricultural equipment work zero-emission and greatly reduce energy consumption, enhance the utilization rate of agricultural equipment, durability, adaptability, Systematicness；The present invention provides a kind of agricultural equipment automatic control system and product, is that agricultural equipment is carried out automatically using electric energy It is turned into system and product that industry provides driving and control.A kind of agricultural equipment automatic control system of the present invention and the work of product Work is resemblance automatic order of the driving with control agricultural equipment according to operating area (or operating area agriculture, woods crop) Ground fulfils assignment work operations needed for region；The agricultural equipment automatic control system and product of the present invention can drive and control one Platform agricultural equipment is automatically performed the various productions of agricultural or agriculture, the cultivation of woods crop receive the various operations of process management；The present invention's Agricultural equipment automatic control system can also drive and control a variety of more agricultural equipments be automatically performed agricultural it is various production or Agriculture, the cultivation of woods crop receive the various operations of process management；The agricultural equipment automatic control system of the present invention effectively improves agriculture Machine equipment utilization rate, operating speed, homework precision effectively improve agricultural equipment the degree of automation, improve the operation of agricultural equipment Efficiency improves the labor intensity of the various productions of agricultural, and the various productions of agricultural is made to enter high automation, high flexibility, height with management Integrated level.

Scheme of the invention

In order to reach above-mentioned target, the present invention provides a kind of agricultural equipment automatic control system and product includes：It is a kind of Agricultural equipment automatic control system hardware product and a kind of agricultural equipment automatic control system software product.

Specific embodiment

The present invention provides a kind of agricultural equipment automatic control system and product includes：A kind of agricultural equipment automation control System hardware product and a kind of agricultural equipment automatic control system software product；A kind of agricultural equipment automation control system System hardware product includes：Automatic control device, driving device and electric logic control device；A kind of agricultural equipment is automatic Networked control systems software product includes：Management software product and control software product.

Specific example

Further, specific example explanation is carried out to the present invention, but these examples do not limit the present invention with explanation, only with reference to The present invention will be described for embodiment described below.Agricultural equipment described below refers to the various machines for agricultural production Tool equipment is with being used for the various robots of agricultural production.

Description of the drawings

In the following figures：

Fig. 1 is schematic and schematically illustrates a kind of agricultural equipment automatic control system of embodiment and the group of product Into picture frame figure；

Fig. 2 is schematic and schematically illustrates a kind of agricultural equipment automatic control system of embodiment and the agriculture of product Machine equipment work procedures sheet works out picture frame figure；

Fig. 3 is schematic and schematically illustrates a kind of agricultural equipment automatic control system of embodiment and the work of product Make principle, composition, structure, process chart block diagram；

Fig. 4 is schematic and schematically illustrates a kind of agricultural equipment automatic control system software product of embodiment Operation principle, composition, structure, process chart block diagram；

Fig. 5 schematically and schematically illustrate embodiment a kind of agricultural equipment automatic control system software product, The operation principle of hardware product, composition, structure, process chart block diagram.

Further, specific example explanation is carried out to the present invention, but does not limit the present invention, only with reference to reality described below Example is applied further to illustrate the present invention.

A kind of agricultural equipment automatic control system and product include：A kind of agricultural equipment automatic control system hardware production Product and a kind of agricultural equipment automatic control system software product.Preferably, a kind of agricultural equipment automatic control system Hardware product includes：Automatic control device, driving device and electric logic control device.Preferably, a kind of agricultural machinery is set Standby automatic control system software product includes a kind of agricultural equipment automatic management software product and a kind of agricultural equipment is automatic Change control software product.Preferably, a kind of agricultural equipment automatic control system and product are that a kind of utilize digitizes (or number or word or alphabetical or/and symbol) information carries out agricultural equipment operation track and operation process The system and product of driving and control.Preferably, a kind of agricultural equipment automatic control system and product are a kind of drivings With control agricultural equipment according to operating area (or/with operating area agriculture, woods crop) resemblance automatic order complete to make The system and product of work operations needed for industry region.Preferably, a kind of agricultural equipment automatic control system and product are One agricultural equipment of a kind of driving and control is automatically performed the various productions of agricultural or agriculture, the cultivation of woods crop receive each of process management The system and product of kind operation.Preferably, a kind of agricultural equipment automatic control system and product are a kind of driving and control Make a variety of one or more agricultural equipments be automatically performed in the various productions of agricultural a kind of or several work system and Product.Preferably, a kind of agricultural equipment automatic control system and product be it is a kind of drive with control a variety of one or/ The various productions of agricultural are automatically performed with more agricultural equipments or agriculture, the cultivation of woods crop receive the various operations of process management and be System.Preferably, using PC machine, (or microcomputer or computer or similar computer are set a kind of agricultural equipment automatic control system It is standby), using general operating system (such as Windows, Android, Linux, winCE) platform, build a kind of agricultural equipment The HMI of automatic control system is connect by serial communication, fieldbus with a kind of agricultural equipment automatic control system；Profit With general operating system (such as Windows, Android, Linux, winCE) platform, a kind of agricultural equipment automation control Systemic software development is convenient, has opening, convenient for being connect with other software (such as CAD/CAM/ networks).Preferably, it is described A kind of agricultural equipment automatic control system by software, realizes I/O controls using the PLC (programmable controller) of independent CPU Function processed；By design independent PLC (module) by serial communication or two-port RAM and system CPU realize data communication and Data sharing, and then realize automatic control device and the co-ordination of PLC.Preferably, a kind of agricultural equipment automation Each servo-driver of control system and spindle driver are using full-digital control, and CPU uses high-speed dsp, to ensure position The realization of the complicated algorithms such as control, speed control, victor chan ge control, Direct Torque Control；Originally return to automation control system The feedback amount of system feeds back to servo-driver, closed-loop control is realized in servo-driver, all servo parameters are (including electric current Ring, Voltage loop, temperature ring, gravity ring, pressure rings, other rings, speed ring, position ring parameter) automatic control system control Panel setting management, matches each axis servo.Preferably, each subsystem packet of a kind of agricultural equipment automatic control system Include Real-Time Network interfaces；Preferably, a kind of agricultural equipment automatic control system is a kind of open system, using calculating Machine and its companion module composition make a kind of agricultural equipment automatic control system standardization, modularization；It is automatic convenient for agricultural equipment Intelligence (operation, programming etc.), data sharing (CAD/CAE/CAPP/CAM) and the seriation of system of networked control systems, can be simultaneous Hold and upgrade；Preferably, a kind of agricultural equipment automatic control system of Open architecture is a kind of full software Type automatic control system, i.e., completely using the automatic control system of PC machine or the full software form of computer, automation control The repertoire processing of device processed is carried out, and the interface by being mounted in PC machine or expanded slot of computer by PC machine or computer entirely Card etc. is controlled.Preferably, a kind of PC machine or computer are embedded in the agricultural equipment of automatic control device formula structure certainly Dynamic networked control systems, i.e., connected between PC machine or computers and automation control system with dedicated bus.Preferably, described one kind Automatic control device is embedded in agricultural equipment automatic control system, that is, motion controller (card)+PC types of PC formula structures, general Motion control card is inserted into the expansion slot of PC, uses the automatic control system using PC machine or computer as hardware platform completely. Preferably, a kind of software of agricultural equipment automatic control system have control function, preparatory function, interpolation function and Fixed cycles function, feed function, main shaft function, miscellaneous function, tool management function, compensation function, good in interactive function, from Diagnostic function, communication function.Preferably, a kind of agricultural equipment automatic control system hardware product includes：Automation control 3 kinds of device processed, driving device and electric logic control device devices；3 kinds of devices are interconnected by I/O interfaces；It is described automatic The software and hardware for changing control device is used for auto-control agricultural equipment various functions；A kind of agricultural equipment automation control The automatic control device of system hardware product processed is used to perform all automatic control device system softwares and agricultural equipment Operation；A kind of automatic control device of agricultural equipment automatic control system hardware product is using PC machine (or computer Or similar computer equipment) realize；A kind of agricultural equipment automatic control system hardware product is by CPU, memory, aobvious Show device, keyboard, programmable controller (PLC), driver, external apparatus interface composition.Preferably, a kind of agricultural equipment from The work of dynamic networked control systems is driving with controlling agricultural equipment according to operating area (or operating area agriculture, woods crop) Fulfil assignment to resemblance automatic order work operations needed for region.Preferably, a kind of agricultural equipment automation control System and product are according to the resemblance of operating area (or operating area agriculture, woods crop), are determined needed for operating area Operating type, using by letter, number and a set of basic symbol for providing, the language formed by certain morphology and syntax rule (or numerical control programming language or ATP language) is sayed for describing the geometric form of operating area (or operating area agriculture, woods crop) Correlation and agricultural equipment operation process, technological parameter between shape, geometric element are set by (or automatic) establishment agricultural machinery manually Good agricultural equipment work procedures sheet prepared in advance is inputed to agricultural equipment automation control dress by standby automatically working program list (or PC machine or computer or similar computer equipment) storage is put, when automated agricultural machine equipment works, by required working region The resemblance of (or operating area agriculture, woods crop) inputs to agricultural equipment automation control by (or automatic) manually and fills (or PC machine or computer or similar computer equipment) is put, by agricultural equipment automatic control device according to pre-stored agriculture Machine equipment work procedures sheet is special by the shape of required working region (or operating area agriculture, woods crop) into row decoding and processing Sign is converted into the receptible automated agricultural machine equipment working procedure of agricultural equipment automatic control device, agricultural equipment automation control Device processed is handled the automated agricultural machine equipment working procedure of receiving and operation, processing and the information after operation and instruction, Part feeding information is sent to servo drive system by certain signal transformation and voltage, power amplification, driving with instruction Motor movement with controlling each feed motion device of agricultural equipment；It feeds the detector of motor and will detect and fed back with the information of acquisition Give agricultural equipment automatic control device；Agricultural equipment automatic control device is according to feedback information and agricultural equipment working procedure Information is compared, operation and processing, is sent an instruction to drive system and is driven and is precisely run with control motor；Another portion Split instruction is sent to programmable by agricultural equipment automatic control device (or PC machine or computer or similar computer equipment) Controller (PLC), programmable controller (PLC) carry out logical operation and processing according to the user program of storage and the information of acquisition It is sent to agricultural equipment spindle driver and auxiliary unit driver, the signal transformation and voltage, power amplification of driver, driving It precisely runs with the motion motor of auto-control agricultural equipment main shaft and auxiliary device, automatically has so as to fulfill agricultural equipment Item works not disorderlyly, so as to fulfill agricultural equipment automatically accurate operation.Preferably, a kind of agricultural equipment automation control System and product are a kind of drive with the various mechanical equipments for various productions of being engaged in agriculture or robot is controlled to be turned into automatically The automatic control system and product of industry；Preferably, a kind of agricultural equipment automatic control system is stored according to computer The control program stored in device, execution part or whole numerical value functions, and match and include interface circuit and the computer of driving device System, by using number or/with word or/digital command formed with symbol realizes that one or more agricultural equipment moves It controls；A kind of agricultural equipment automatic control system, which to agricultural equipment control, mainly includes position, angle, speed Etc. mechanical quantities and switching value.

Preferably, a kind of development approach of the software product of agricultural equipment automatic control system, raw materials for production, life Produce process, the construction of the software product of production procedure and agricultural equipment automatic control system and software product component, function with Purposes is to include：Preferred 1, a kind of development approach of agricultural equipment automatic control system software product is to use Computer programming language (or the System Development Language of object-oriented；Or programming language；Or C language；Or C Plus Plus；Or JAVA language；Or other language) computer (or PC machine or similar computer equipment) operating system (or DOS or Windows, Or Linux or Android) developed and designed under platform, using technologies such as object-orienteds, using modularization, stratification, The principle of dynamic configuration makes a kind of agricultural equipment automatic control system software product tool include arbitrary a variety of property of 9 kinds of performances It can combine, 9 kinds of performances include：It is real-time treatability, opening, multi-task parallel treatability, interrupt mechanism, interchangeable Property, scalability, interoperability manipulation, scalability, polymorphism；Preferred 2, a kind of agricultural equipment automatic control system The main task of software product is by the resemblance information representation of required working region (or operating area agriculture, woods crop) Into agricultural equipment job information, displacement commands, speed of mainshaft instruction and the auxiliary movement for being transformed into each feed shaft of agricultural equipment refer to It enables, controls track movement and the logical action of agricultural equipment, agricultural equipment is made to complete to work needed for required working region in an orderly manner； Preferred 3, a kind of agricultural equipment automatic control system software product receives and processes the information of input medium, and with generation Code is identified, is stored, operation, corresponding command pulse (instruction) is exported, by the servomechanism installation for controlling, driving servo-drive system And motor, generate the movement of each mechanism of automation agricultural equipment；Preferred 4, a kind of agricultural equipment automatic control system Software product includes a kind of agricultural equipment automatic management software product and a kind of agricultural equipment automation control software product；It is excellent The 5 of choosing, a kind of agricultural equipment automatic control system software product, for being managed to a kind of automation of agricultural equipment Management software product；The management software product includes：Input/output procedure, signal procedure, I/O processing routines, display journey Sequence, diagnostic program etc.；Preferred 5, a kind of management software product of agricultural equipment automatic control system includes：At the beginning of system Beginningization module, system program scheduler module, agricultural equipment parameter module, communication function module, document management module, agricultural equipment Working procedure editor module, ladder diagram editor module, other modules；Preferred 6, a kind of agricultural equipment automation control system The input/output procedure of the management software product of the software product of system receives the agricultural equipment operation procedure of input, by input Agricultural equipment operation is stored in a buffer, is reached in agricultural equipment operation procedure memory by buffer；Preferred 7, institute State a kind of management program of the management software product of the software product of agricultural equipment automatic control system be responsible for data input, Data processing, interpolation operation etc. are scheduled management for the various programs of automated agricultural machine equipment course of work service；Manage journey Sequence will be also handled being interrupted caused by operation panel order, clock signal, fault-signal etc.；Preferred 8, a kind of agriculture The management program of the management software product of the software product of machine equipment automatic control system mainly includes：CPU is managed and peripheral hardware It manages, reasonable arrangement and co-ordination such as front and back program, being in communication with each other between interrupt service routine, control panel and behaviour Make the monitoring of various information on panel；Preferred 9, a kind of management of the software product of agricultural equipment automatic control system The display program of software product is used for displaing coordinate value parameter and instruction code, function code, can also make agricultural equipment operation area The graphical display in domain；The display of automated agricultural machine equipment availability mode, the display of automated agricultural machine equipment working procedure etc.；It is preferred that 10, a kind of function of the diagnostic program of the management software product of the software product of agricultural equipment automatic control system is The failure of system is found in time, and point out fault type, can check system before operation or after failure generation in program operation Whether the function of each component is normal, and points out the position broken down；Preferred 11, a kind of agricultural equipment automation control The signal procedure function of system management software product is：Realize agricultural equipment single-unit operation in data input with output equipment with Agricultural equipment automatic control system carries out data transmission and communicates with information；Realize a variety of more automated agricultural machine equipment automatic Change the communication in operating system；Realize communication of the automated agricultural machine equipment in networking production；Preferred 12, a kind of agriculture Machine equipment automatic control system control software product is used to produce the control software that a kind of automation of agricultural equipment is controlled Product；The control software product includes translator, agricultural equipment tool compensation program, interpolation operation program, speed processing journey Sequence, position control program etc.；Preferred 13, a kind of control software product of agricultural equipment automatic control system includes G Functional processing module, working cycles control module, motion-control module, monitoring and diagnosis module, interruption control module, PLC processing Module, other modules；Preferred 14, a kind of control software product of the software product of agricultural equipment automatic control system Decoding processing routine agricultural equipment operation procedure is handled as unit of a program segment, agricultural operation area therein Motion mode (G code), the agricultural equipment operating speed of domain job information (such as starting point, terminal, straight line or circular arc), agricultural equipment Information (F codes) and other auxiliary informations (M, S, T code) are construed to the number of computer capacity identification according to certain syntax rule The internal storage location specified is stored according to form, and with certain data format；During decoding, also to complete to program segment Syntax check finds that syntax error is alarmed immediately；Preferred 15, a kind of software production of agricultural equipment automatic control system The agricultural equipment compensation program (precomputation program) of the control software product of product is exactly the data processor of control software product, The data processor includes：Agricultural equipment tool (or tool heads) length compensation, agricultural machinery working tool (or tool heads) half Diameter compensation, the anti-backlash compensation of agricultural equipment, agricultural equipment leading screw pitch compensation, agricultural equipment cross quadrant and direction of feed judge, The conversion of agricultural equipment feed speed, agricultural equipment feed speed control and the processing of agricultural equipment miscellaneous function；Preferred 16, described one The patching plug program of the control software product of the software product of kind agricultural equipment automatic control system is according to agricultural equipment operation journey The data provided in sequence, such as the type of curve, starting point, terminal carry out operation, according to operation result, respectively to each coordinate system axis Send out feeding pulse；The feeding pulse drives agricultural equipment or agricultural equipment tool (or tool heads) to make phase by servo-drive system The task of procedure stipulation is completed in the movement answered；Preferred 17, a kind of agricultural equipment automatic control system control is soft The patching plug program of part product is a kind of control formula program in real time；Be it is a kind of on one side interpolation carry out operation, while the reality that works When the program that controls；Preferred 18, a kind of control software product of the software product of agricultural equipment automatic control system Speed control program according to the frequency of given velocity amplitude control interpolation operation, to ensure scheduled feed speed, need into Row automatic deceleration controls, to avoid because causing drive system step-out during velocity jump；Preferred 19, a kind of agricultural equipment The main task of the position control program of the control software product of the software product of automatic control system is in servo-drive system In each sampling period, the theoretical position that Fine interpolation calculates and actual feedback position are compared, difference is as servo The input of adjusting controls servo motor through servo-driver；The Gain tuning, each of position loop is also completed in being controlled in position The compensation of pitch error and backlash Compensation of Half of coordinate, to improve the positioning accuracy of agricultural equipment；Preferred 20, a kind of agriculture The software product of machine equipment automatic control system includes a kind of agricultural equipment work procedures sheet of automatic management software product； Preferred 21, a kind of agricultural equipment work procedures sheet of agricultural equipment automatic control system software product is according to operation Region pattern or operating area agriculture, woods crop Eigen Structure and operating type, operation process, technique ginseng needed for operating area Number it is a kind of it is dedicated automatically control programming language or ATP language or numerical control language (or i.e. by letter, it is digital and provide one Basic symbol is covered, by the language that certain morphology and syntax rule form, for describing the geometry of operating area, geometry member Correlation and agricultural equipment operation process between element, the language of technological parameter) automated agricultural machine equipment availability process described The program list worked out；Preferred 22, a kind of agricultural equipment work of agricultural equipment automatic control system software product It is to automatically control language by oneself of defined instruction code and set form detailed description operating area according to use to make program list The working trajectory of power tool (or operation head of tool device) of the dynamicization agricultural equipment in whole work process and path with The work procedures sheet that each action step of automated agricultural machine equipment body is worked out；Preferred 23, a kind of agricultural machinery is set The agricultural equipment work procedures sheet of standby automatic control system software product includes：Preferred A, the agricultural equipment working procedure It is singly each operating type of the agricultural equipment that required operating area is described in detail using code designation and set form The agricultural equipment work that each action step feature of the execution of entire operation process feature and automated agricultural machine equipment is worked out Make program list；Preferred B, the agricultural equipment work procedures sheet is good agricultural equipment work procedures sheet prepared in advance, by counting Calculation machine is automatically completed agriculture to operating area, woods crop according to agricultural equipment work procedures sheet auto-control agricultural equipment Cultivation receives the various operations of process management work (or management work of operating area)；Preferred C, the agricultural equipment work Program list establishment code used mainly includes：Preparatory function G instructions, feed function F instructions, spindle speed S instructions, operation work Have (or power tool device) T instructions, miscellaneous function M instructions；Preferred 26, a kind of agricultural equipment automatic control system Agricultural equipment work procedures sheet compilation process and the step of software product include：Preferred A, the feature of the analysis operating area Or agriculture, the woods crop feature of operating area；Preferred B, the determining automated agricultural machine equipment availability mode；Preferred C, The power tool (or power tool device) of the selection automated agricultural machine equipment；Preferred D, the determining automated agricultural machine are set Standby coordinate dot；Preferred E, the work of the power tool (or operation head of tool device) of the selection automated agricultural machine equipment Track and path；Preferred F, the priority action for determining respectively to perform machine work process in relation to automated agricultural machine equipment；It is excellent The G of choosing, the carry out Mathematical treatment；Preferred H, it is described to write a kind of agriculture of agricultural equipment automatic control system software product Machine equipment work procedures sheet；Preferred I, a kind of agricultural equipment of agricultural equipment automatic control system software product of input Work procedures sheet；Preferred J, a kind of agricultural equipment work journey of agricultural equipment automatic control system software product of verification Sequence list；Preferred 27, a kind of agricultural equipment work procedures sheet of agricultural equipment automatic control system software product includes： Preferred A, preparatory function (or G) instruction of the agricultural equipment work procedures sheet, for providing the power tool of agricultural equipment The relative movement orbit of (or tool heads of power tool device) and operating area (i.e. interpolation function instructs), agricultural equipment coordinate The several work operations such as system, power tool (or the power tool head) compensation of interpolation coordinate plane, agricultural equipment, coordinate biasing；G Instruction is by alphabetical G and two digits form below, the code from GOO to G100；Preferred B, the agricultural equipment working procedure Single feed function (or F) instruction, is used to specify each coordinates of motion axis of agricultural equipment and its amount of feeding or screw thread that arbitrarily combine Helical pitch；The instruction is continuous effect code, including two kinds of representation methods, i.e. code method, directly specified method；Preferred C, the agricultural machinery are set Spindle control (or M) instruction of standby work procedures sheet and speed (or S) instruction, the speed (or S) instruction are used to specify main shaft Rotating speed represents that command M 03 (forward direction), M04 (reversed) stop using for controlling forward direction with alphabetical S and subsequent 2 to 4 bit digital M05 is instructed；Preferred D, power tool (or power tool device) (or T) instruction of the agricultural equipment work procedures sheet, should Instruction is in the automated agricultural machine equipment for moving power tool (or power tool device) certainly, for selecting required power tool (or power tool device), while be also used for representing that selection power tool (or power tool device) is biased and compensated, T function words It is made of address character T and subsequent 2 to 4 bit digital；Preferred E, the agricultural equipment work procedures sheet miscellaneous function (or M it) instructs, M instructions include MOO to M100 and amount to 100 kinds, including continuous effect instruction and non-continuous effect instruction；Preferred 32, described one kind The program structure of the agricultural equipment work procedures sheet of agricultural equipment automatic control system software product is with form：Preferably A, the agricultural equipment work procedures sheet are made of program number, program segment and EP (end of program) etc.；It is journey in the beginning of working procedure Serial number, to carry out program search；The full content of operation procedure is formed by program segment and letter is stopped/opened to automated agricultural machine equipment Breath；Preferred B, the block format of the agricultural equipment work procedures sheet：Automated agricultural machine equipment working procedure is by program segment Composition, program segment are made of program number, contents of program, rear plus program segment termination character；Contents of program by various instruction codes and Corresponding coordinate size and specification word composition；Preferred 33, a kind of agriculture of agricultural equipment automatic control system software product Machine equipment work procedures sheet includes main program and subprogram, and the first row of the subprogram is subprogram number, and last column is End of subroutine instructs, and program process is：Main program is first carried out, " call subroutine program " is encountered in implementation procedure and is referred to When enabling, execution subroutine is transferred to, has performed subprogram, encounters " returning main program " instruction, and return and perform main program；Subprogram can With nesting, subprogram " is returned master " and can only be returned after performing calls its program, not necessarily returns to " main program ", main program can be adjusted With multiple subprograms, same subprogram can be called repeatedly；Preferred 34, a kind of agricultural equipment automatic control system The agricultural equipment work procedures sheet of software product includes variable parameter and custom macro program；Preferably, the custom macro program is Containing the subprogram including variable, the instruction that breathes out (calling) custom macro program in a program is user's macro, custom macro program In, calculation formula and Go To statement and many kinds of function can be used；Preferred 35, a kind of agricultural equipment automatic control system The agricultural equipment work procedures sheet of software product includes variable parameter, and the variable parameter includes：Preferred A, the agricultural machinery are set Standby work procedures sheet includes a kind of public variable；Preferred A1, the public variable refer to exhale in main program and by main program Common variable in each custom macro program gone out, the indirect assignment or with calculation formula assignment, people in main program and custom macro program Work sets (assignment)；Preferred B, the agricultural equipment work procedures sheet include a kind of local variable；Preferred B1, the part Variable is just limited to the variable used in custom macro program, and same local variable, its value is obstructed in different macroprograms With macroprogram is in same level or not in same level, and value is not general, and local variable is in the macro-instruction of exhalation macroprogram Middle assignment, can in macroprogram indirect assignment or with calculation formula assignment, in commission, the value of custom macro program built-in variable, It only remains into until the macroprogram terminates, local variable cannot be set on operation panel；Preferred C, the agricultural equipment work Make program list and include a kind of system variable；The system variable is the variable of fixed-purpose, and the state of its value decision systems is The code name of system variable and certain state of system have stringent correspondence；It includes the input/output signal variable of interface, work Have (or tool device) shape compensation variable, synchronizing signal variable, control program segment stops and waits for miscellaneous function end signal Variable, variable corresponding with parameter setting, status information variable, location information variable set variable with origin, and origin displacement becomes Amount, tool (or tool device) length compensation variable, tool (or tool device) radius compensation variable, tool (or tool device) Interference data variable, dependent variable；Preferred 36, a kind of agricultural machinery of agricultural equipment automatic control system software product is set Standby work procedures sheet includes：Preferred A, the agricultural equipment work procedures sheet are calculated including a kind of variable；Preferred A1, it is described The calculation of variable includes adding, subtract, multiplication and division, logic or logic or non-, logical AND；Preferred B, the agricultural equipment working procedure It is single to include a kind of variable function；Preferred B1, the function performance belong to the selection function of automatic control system, it is user The advanced function of kind in the range of macroefficiency；It include sine, cosine, tangent, arc tangent, square root, absolute value, etc. several letters Number calculation function；Preferred C, the agricultural equipment work procedures sheet include a kind of variable assignments；Preferred C1, the variable are assigned Value includes indirect assignment, indirect assignment, is the local variable assignment in custom macro program in custom macro program；Preferred D, institute It states agricultural equipment work procedures sheet and includes a kind of Go To statement；Preferred D1, the Go To statement point is unconditional to turn to language Sentence and conditional go to statement, conditional statement are formed by including conditional and turning to target two parts；Preferred 37, a kind of agriculture The agricultural equipment work procedures sheet write method of machine equipment automatic control system software product includes：Preferred A, it is described to determine The coordinate system of agricultural equipment；The coordinate origin of preferred B, the setting agricultural equipment and operating area；Preferred C, it is described to set It puts agricultural machinery and sets absolute coordinate and relative coordinate with operating area；Preferred D, it is described to be instructed using G relevant with coordinate；With G90 represents absolute coordinate programming instruction, and relative coordinate values programming instruction is represented with G91, represents that operating area programming is sat with G92 The preset register instructions of mark system setting；Zero offset setting instruction is represented with G53 to G59；Represent that interpolation is sat with G17, G18, G19 Plane sets instruction is marked, quick positioning instruction is represented with G00, represents that linear interpolation instructs with G01, circular arc is represented with G02, G03 Interpolation instructs；Preferred E, it is described according to operating area pattern (or operating area agriculture, woods crop Eigen Structure) and operation area Operating type needed for domain selects power tool (or tool device)；Preferred F, the determining automated agricultural machine equipment availability road Line, selection and the exposure of operating area (or operating area agriculture, woods crop), write agricultural equipment work procedures sheet；It is preferred that 38, a kind of agricultural equipment work procedures sheet of agricultural equipment automatic control system software product includes：Preferred A, The agricultural equipment work procedures sheet includes preparatory function (G code)；The A1 of choosing, the preparatory function (G code) is for providing The operations such as agricultural equipment movement line style, coordinate system, coordinate plane, tool compensation, pause；Preferred B, the agricultural equipment work The miscellaneous function (M instructions) of program list is for controlling the instruction of the break-make of agricultural equipment and its auxiliary device；It such as opens, stop hydraulic pressure system System performs electric appliance, main shaft rotating, stalling, EP (end of program) etc.；Preferred C, the feeding work(of the agricultural equipment work procedures sheet Energy (F instructions) is used to specify agricultural equipment feed speed；Speed of mainshaft function (S instructions) is used to specify turning for agricultural equipment main shaft Speed or speed；Instrumental function (T instructions) is used to specify agricultural equipment select tools number and tool compensation number；A, B, C instruction is used for It is specified to move direction and goal position along revolution reference axis；Preferred D, the agricultural equipment work procedures sheet include：A kind of machine Tool people's work operations program, various agricultures, woods crop harvesting work operations program, various agricultures, woods crop fertilising operation work journey Sequence, various agricultures, woods crop hydrojet, spray drug operation working procedure, various agricultures, woods crop rice transplanting work operations program, various agricultures, woods Crop throw seedling work operations programs, various agricultures, woods crop seeding operation working procedure, various whole field tillage operation working procedures, A kind of weeding work operations program, various agricultures, woods crop picking work operations program, various agricultures, woods crop are transplanted seedlings work operations Program, various agricultures, woods crop other work operations programs, ditching operation working procedure, digging operation working procedure, hauling operation Working procedure, various agricultures, woods crop crops between row weeding work operations program, various agricultures, woods crop management work operations Program；Preferred E, the agricultural equipment work procedures sheet include any one working procedure or arbitrary in 17 kinds of working procedures A variety of working procedures；17 kinds of working procedures include：Robot work operations program, various agricultures, woods crop harvesting operation work Make program, various agricultures, the fertilising operation working procedure of woods crop, various agricultures, woods crop hydrojet, spray drug operation working procedure, each Kind agriculture, woods crop rice transplanting work operations program, various agricultures, woods crop throw seedling work operations program, various agricultures, woods crop sowing work Industry working procedure, various whole field tillage operation working procedures, a kind of weeding work operations program, various agricultures, the picking of woods crop are made Transplant seedlings work operations program, various agricultures, woods crop other work operations programs, trench digging of industry working procedure, various agricultures, woods crop is made Industry working procedure, digging operation working procedure, hauling operation working procedure, various agricultures, woods crop crops between row weeding make Industry working procedure, various agricultures, woods crop management work operations program；Preferred 39, a kind of agricultural equipment automation control System software product includes a kind of agricultural equipment work procedures sheet automated programming product；Preferred 40, a kind of agricultural equipment A kind of agricultural equipment work procedures sheet automated programming product of automatic control system software product includes：Preferred A, described one Kind numerical control Programming with Pascal Language (such as ATP language) automated programming product；Preferred A1, the numerical control Programming with Pascal Language (such as ATP language) is certainly Dynamic programmed product is the automatic programming method based on numerical control language；According to according to operating area pattern (or/and operating area Agriculture, woods crop Eigen Structure) and operating area needed for operating type, operation process, a kind of dedicated automatic control of technological parameter Programming language or ATP language processed (i.e. by letter, number and a set of basic symbol provided, is advised by certain morphology and grammer The language then formed, for describing the correlation between the geometry of operating area, geometric element and agricultural equipment operation Journey, technological parameter) automated agricultural machine equipment availability process is described, i.e. referred to as agricultural equipment operation source program, then by source journey Sequence input computer in, be compiled by computer, tool path calculate, finally again with the corresponding postposition of agricultural equipment used After routine processes, corresponding agricultural equipment work procedures sheet is automatically generated；Preferred B, a kind of graphical interaction are compiled Journey (such as CAD/CAM softwares) automated programming product；Preferred B, the graphical interaction program (such as CAD/CAM softwares) automated programming Product is to be painted operating area and operating area agriculture, the geometric figure of woods crop using the graphics edition function of CAD/CAM softwares Computer is made, forms the graphic file of operating area, then calls and automatically controls programming module, by the way of human-computer interaction The position to work needed for specifying on the computer screen, then corresponding work technological parameter is inputted, computer carries out necessity automatically Mathematical treatment, and develop and automatically control agricultural equipment working procedure, while Dynamic Announce is controlled automatically on the computer screen Agricultural equipment work head working trajectory processed；Preferred C, a kind of speech type automated programming product；Its speech type automated programming Product be by the use of people sound as input information, and with computer and display direct dialogue, computer is enabled to compile out agricultural machinery and is set A kind of method of standby automated job program；During voice programming System Programming, programmer need to only tell required instruct；It is preferred that D, a kind of natural pattern pattern automated programming product；Natural pattern pattern automated programming product is using agricultural equipment vision system System inputs operating area or agriculture, woods crop graphic feature, then handled obtained information by computer, controls agricultural machinery Equipment exports agricultural equipment automatic job work procedures sheet；With natural pattern pattern automated programming；Preferred 41, a kind of agriculture The software product of machine equipment automatic control system includes operation and operational management task module, and the submodule of the module includes： A, display and operation module；B, system operation management module；C, agricultural equipment work procedures sheet and systematic parameter management module；It is excellent The 42 of choosing, a kind of software product of agricultural equipment automatic control system include agricultural equipment working procedure preprocessing tasks Module；The submodule of its module includes：A, program reads in module；B, coordinate system setup module；C, decoding module；D is automated Agricultural equipment power tool compensating module；Preferred 43, a kind of software product packet of agricultural equipment automatic control system Include movement and PLC control task modules；The submodule of its module includes：A, interpolator module；B, hand feed module；C, it inserts Benefit/manual switching module；D, coordinate transformation module；E, automated agricultural machine equipment bed body error module；F, automated agricultural machine equipment Bed body is driven matching module；G, external device communication module；H, PLC control modules；Preferred 43, a kind of agricultural equipment is certainly The software product of dynamic networked control systems includes system operatio and operation control process task；It includes：Preferably, system described in A. Operation and operation control provide man machine operation interface, System data management and operational management function；Using operational order interface, it is System information interface, parameter interface, display information interface；Preferred B, the system operatio and operation control include human-machine operation circle Face, agricultural equipment working procedure and systematic parameter management, system operation management module；Operating personnel pass through man machine operation interface control The operation of automated agricultural machine equipment processed, shown including system mode, agricultural equipment work operation, automated agricultural machine equipment adjustment, The writing and manage of automated agricultural machine equipment working procedure, the setting and management of automated agricultural machine device parameter；Believed by showing Breath interface obtains the information of other function modules, is shown for system mode；Preferred C, the display and systematic parameter management Module supports the realization of human-machine interface function, provides systematic parameter preferred D for other function modules by parameter interface, described System operation management module control agricultural equipment automatic control system program overall operation, by operational order interface to its His function module sends out operation control command, obtains system running state from other function modules by system information interface, together The operation of step system；Preferred E, the operation connect agricultural equipment working procedure with the input of display interface module and read in module With the output of interpolation/manual switching module；The input of the O connection system operational management module of operation and display interface module, Make main operation interface, automatic cycle interface, manual operation interface, agricultural equipment working procedure editing interface, tool parameters setting Interface, agricultural equipment automatic control system coordinate system parameters setting interface, system configuration parameter interface, other interfaces etc. are each The operation at interface can all meet with a response in the module；Preferred F, the system operation management function module are received from system The agricultural equipment automatic control system operational order of man machine operation interface module and PLC interface, controls the operation of whole system It is controlled with the method for operation, including：A agricultural equipments working procedure pretreatment (agricultural equipment working procedure is read in, decoding ...)；B Motion control (interpolation, coordinate transform ...)；The continuous operation of C patching plug programs；D loop starts；E feedings preserve；F work after It is continuous；G is out of service；H hand feeds axis selects；I hand feeds；Preferred 44, a kind of agricultural equipment automation control system The software product of system includes a kind of automated agricultural machine equipment working procedure preprocessing tasks；The pretreatment of agricultural equipment working procedure is appointed Business includes：Preferred A, a kind of automated agricultural machine equipment work journey of automated agricultural machine equipment working procedure preprocessing tasks Sequence preprocessing process：Automated agricultural machine equipment working procedure reads in module and reads in journey from automated agricultural machine equipment working procedure file Sequence section is sent to decoder by data cable, and decoder decodes automated agricultural machine equipment working procedure section and analyzes, isolates Motion control instruction and miscellaneous function control instruction, then, motion control instruction by subsequent programming coordinates system setup module, Tool compensation module forms interpolation instruction, is used for subsequent interpolator module and PLC control modules；Preferred B, described one kind The Core Feature of automated agricultural machine equipment working procedure preprocessing tasks is decoding function, and decoding function will describe automated agricultural machine Equipment moving and the automated agricultural machine equipment working procedure of miscellaneous function action are converted into a kind of program of automatic control system Internal control data；Preferred C, a kind of agricultural equipment work of automated agricultural machine equipment working procedure preprocessing tasks Program list with text files memory in the file storage medium of computer, automated agricultural machine equipment working procedure read in module from Reading program sentence in automated agricultural machine equipment working procedure file, is subsequently transmitted to subsequent decoder module；Decoding The automation control sentence represented with string format is converted into preparatory function (including G, D, F generation by device according to the rule of regulation Code), auxiliary function (including M, N, S, T code) and position coordinate data (refer to including X, Y, Z, A, B, C, I, J, K, code position Enable code), pass through the subsequent coordinate system setup module of output data cable connection and tool compensation module；Preferred D, described one 5 kinds of functions of the coordinate system setup module of kind automated agricultural machine equipment working procedure preprocessing tasks include：A programs operating area Coordinate system programs the proportional zoom function of motion path, C mirror images to the conversion function of automated agricultural machine equipment bed body coordinate system, B Mapping function, the rotation of D coordinate systems, locomotive function, E polar coordinates are to functions such as right angle master coordinate system conversion functions；The coordinate system Processing parameter is set by automated agricultural machine device operator in automated agricultural machine equipment operation panel, is stored in system coordinate system ginseng In number file and data structure, coordinate system module is selected by the program instruction of agricultural equipment automatic control system software product 5 kinds of functions in any one or arbitrary multiple functions combination function uses or revocation；Preferred E, a kind of automation The tool compensation module of agricultural equipment working procedure preprocessing tasks carries out tool radius compensation and automated agricultural machine according to data Equipment tool length compensation and tool radius and position compensation；Preferred 45, a kind of agricultural equipment automatic control system Software product include it is a kind of movement and PLC control task modules；Preferred 46, a kind of agricultural equipment automation control system The movement of the software product of system and PLC control task modules include：The work(of preferred A, the movement and PLC control task modules It can be the seat for automated agricultural machine equipment being converted to by the motion control instruction of automated agricultural machine equipment working procedure pretreatment The real time position instruction of parameter, the movement of automation agricultural equipment is generated by servo motor；Preferred B, the movement and PLC The external device communication control module of control task module includes, according to system configuration parameter, establishing and safeguard fieldbus The function of communication between (tablet computer and FED) main website；The outside of preferred C, the movement and PLC control task modules is set Standby communication control module is included according to the instruction from automated agricultural machine equipment transmission matching module and the number from PLC module Output data is measured, generates UDP messages, is sent to the function of FED main websites；Preferred D, the movement and PLC control task modules External device communication control module will obtain kinematic axis and setting digital quantity I/O that FED main websites return in the function of state, example Actual speed, torque such as main shaft, digital quantity input data etc., forward it to PLC module；Preferred E, it is described movement and The function of the external device communication control module of PLC control task modules is：Mounted on computer operating system, (Android is put down Plate computer) on automatic control system connect by USB/Ethernet converters with FED main websites, FED field bus devices It is connect with feed servo, main shaft, digital quantity I/O, sensor and other external equipments；Preferred F, the movement and PLC controls The function of the code of the communication protocol message of the external device communication control module of task module processed includes：Preferred a is described flat It communicates between plate computer and FED main websites and is realized using udp protocol；Preferred b, the IP address and UDP port number of the data frame It is provided by parameter；Preferred c, a kind of agricultural equipment automatic control system software product communication message by heading and The sub- message composition of corresponding each FED slave stations, they are all embedded in UDP message field；Preferred d, the heading " sub- message number ", " the slave station type " of " sub- message length " and each sub- message numerical value provided by parameter；Preferably The type of the external device communication control module communication protocol message of G, the movement and PLC control task modules includes：It is preferred that A, communication message used in the external device communication include starting point message；Startup stage computer is sent to FED main websites Message, control FED bus startings, start message do not include sub- message；Preferred b, used in the external device communication Communication message includes response message；Startup stage FED main website returns to the message of computer, notifies each FED slave stations of computer Starting state；Preferred c, communication message used in the external device communication include instruction message；The periodic duty stage Tablet computer is sent to the message of FED main websites, and tablet computer can send position command, speed by director data to FED slave stations Spend instruction, torque instruction, messaging parameter, servo parameter, digital output data etc.；Preferred d, the external device communication institute The communication message used includes state message；Periodic duty stage FED main websites return to the message of computer, and FED slave stations pass through Status data sends the physical location of servo, actual speed, actual torque, messaging parameter, servo parameter, digital quantity to computer Input and output etc.；Preferred H, it is described movement and PLC control task modules motion control portion by interpolator, coordinate transform, Error compensation, automated agricultural machine equipment matching module composition；Preferred I, the movement and the movement control of PLC control task modules Interpolator structure and the function of part processed are to include：Preferred a, the interpolator is by Straight Line Inserting-compensator, circular interpolation device, liter Reduction of speed controller module forms；Preferred b, the interpolator include interpolation computing function, and the interpolation calculating is divided into interpolation standard Standby, interpolation calculating, end point judging and processing；Preferred c, the interpolation of the interpolator be prepared as interpolator operation prepare it is necessary Preset parameter includes the move distance of each feed shaft, interpolation line segment length；Arc radius, starting point angle, terminal point angle Degree, the initialization at interpolation angle；Preferred c, the interpolation of the interpolator calculate：In each interpolation cycle, the position of interpolator is calculated Output is put, including feeding increment, the angle step under each interpolation cycle；Preferred d, the end point judging of the interpolator and place Reason：When remaining interpolation distance is less than or equal to interpolation (feeding) increment of 1 interpolation cycle, it is whole that expression has reached interpolation Point, exports terminal point coordinate, and interpolation terminates；Preferred e, the method for pulse increment compensation interpolation operation used by the interpolator Including：Point-to-point comparison method, digital integration, digit pulse multiplier interpolation, vector discriminance, comparing integral, minimum are partially Poor method, target point tracing, single step back tracking method, direct function method；Preferred f, data sampling is inserted used by the interpolator The method of complementary operation includes linear function method, expanding digital integration method, two ladders and returns expanding digital Integral Interpolation Method, Double-number product Divide interpolation, angle approaching circular interpolation；The motion control portion of preferred J, the movement and PLC control task modules The Straight Line Inserting-compensator of interpolator is used to generate the straight running position instruction of reference axis；Straight Line Inserting-compensator is according to straight line starting point position It puts, final position and programming feed speed are in each interpolation cycle calculation position increment, auto-control agricultural equipment feed shaft Movement；The circular interpolation device of the interpolator of the motion control portion of preferred K, the movement and PLC control task modules is used for Generate the circular motion position command of reference axis；Circular interpolation device according to the start position of circular arc, final position, center location and Program feed speed calculation position increment under each interpolation cycle, control agricultural equipment movement；Preferred L, it is described movement and The speeding up or down process device of the interpolator of the motion control portion of PLC control task modules is used to that reference axis to be controlled to start and stopping The speeding up or down process in stage；Speeding up or down process device is in order to make automated agricultural machine equipment moving steady and avoid servomechanism installation and motor Overload needs the lifting speed of controlled motion when the startup of automated agricultural machine equipment, stopping and movement velocity change, makes movement velocity It seamlessly transits；The task of speeding up or down process module is according to the acceleration of motion parameter and automated agricultural machine equipment of setting work journey Sequence provides interpolation rate value for interpolator；The hand feed module of preferred M, the movement and PLC control task modules can It realizes and each reference axis feed motion is manually operated, for the adjustment and maintenance of automated agricultural machine equipment；Hand feed module and agriculture Other modules connection such as operational order, interpolator of machine equipment automatic control system；Hand feed module is received from system The control operational order and interpolation parameters of operation module, output data cable connection manually/interpolation output selecting module；Preferably Interpolation/manual switching module of N, the movement and PLC control task modules is defeated by interpolator according to system's operating mode order Out position or manual operation coordinate shaft position are connected to subsequent coordinates conversion module；The input connection of interpolation/manual switching module The output data cable of interpolator module, the output data cable of manual control module, control operational order；Interpolation/cut manually Change the mold the subsequent coordinate transformation module of output data cable connection of block；Preferred 0, it is described to move and PLC control task modules Coordinate transformation module there is tool position and tool gesture stability, interpolator output and hand feed output operation region are sat The lower tool location of mark system and attitude command, coordinate transformation module calculate automation according to automated agricultural machine device structure data The corresponding position coordinates of each reference axis of agricultural equipment；Preferred P, the movement and the automation agriculture of PLC control task modules Machine equipment error compensation module is used for compensating foozle and the use of automated agricultural machine plant machinery structure and running part Error caused by environment, including Error of leadscrew pitch compensation, feed screw nut backlash Compensation of Half, guide rail nonstraightness error compensation, Geometric error compensation caused by slide rail verticality error compensation, environment temperature；Preferred Q, the movement and PLC control task moulds The task of the automated agricultural machine equipment transmission matching module of block is to export automated agricultural machine equipment bed body error compensation module Feed shaft position command is converted into the position command of servomechanism installation；Including following 2 calculating：Preferred a, the gearratio matching It calculates, servo motor drives each motion of automated agricultural machine equipment to move by leading screw or other transmission mechanisms, uses position Detecting element obtains the physical location of automation each motion of agricultural equipment, by gear ratio calculation, can control automation The position command value of system processed is matched with the gearratio of position detecting element and transmission mechanism, generates correct automated agricultural machine The position of each motion of equipment；Preferred b, the shaping amount conversion, automated agricultural machine equipment are driven the institute before matching module It being calculated including location variable using double-length floating variable, the output unit of position detecting element is position resolution, For long variable；The location of instruction of servomechanism installation should be corresponding with the resolution ratio of position detecting element, it is necessary to use long Variable represents, it is therefore desirable to turn the position command that floating-point variable represents according to the resolution requirement that automatic control system is set Change the position command of integer variable expression into；Preferred 47, a kind of agricultural equipment automatic control system software product Programmable controller (PLC) module of movement and PLC control task modules includes：Preferred A, the movement and PLC controls are appointed Programmable controller (PLC) module effect of business module is：Miscellaneous function control in automated agricultural machine equipment working procedure Command M, N, S, T are output to PLC control modules by decoder for decoding by data cable；PLC control modules pass through data electricity Cable is inputted connects external device communication module with output, is set by the auxiliary control of fieldbus operation automation agricultural equipment It is standby and read in sensor signal and switching signal, such as travel switch from automated agricultural machine equipment；Preferred B, the movement Control function is included to automated agricultural machine equipment with programmable controller (PLC) module of PLC control task modules；It controls work( It can include：Preferred a, the on-off model of the automated agricultural machine equipment side are input to by I/O unit interfaces in PLC, letter Number meaning and the input address that is configured it is corresponding；The control signal of preferred b, the PLC are sent to by PLC output interfaces Automated agricultural machine equipment side, the meaning and output address of institute's output signal are corresponding；Preferred c, the automatic control device It send to the information of PLC and is sent into the register of PLC by automatic control device, all automatic control devices are sent to the letter of PLC Number and address (switching value address or register address) it is corresponding with meaning；Preferred d, the PLC send to automation control and fill The information put, the information that PLC is sent into automatic control device are completed by register or switching value, and all PLC, which are sent to automation, to be controlled The Signal Message Address (switching value address or register address) of device processed is corresponding with meaning；Preferred e, the control of the operation panel System, the control signal of system operatio panel enter automatic control device, then give PLC by automatic control device before this, The operation of auto-control agricultural equipment, automated agricultural machine equipment operation panel control signals are directly entered PLC, and control is automatic Change the operation of agricultural equipment；Preferred f, the automated agricultural machine device external switch input signal, by automated agricultural machine equipment The switching signal of side is input to PLC by I/O units, carries out logical operation, switching signal, including many detecting element signals, (such as travel switch, close switch, mode selection switch)；Preferred g, the output signal control, PLC output signals are through periphery Relay, contactor, solenoid valve in control circuit etc. are exported to control object；Preferred h, the T functions realize that agricultural machinery is set Standby automatic control system is sent out T and is instructed to PLC, by decoding, is retrieved in tables of data, finds the tool number that T codes are specified, And be compared with the tool number of agricultural equipment tool clamp, if be not inconsistent, send out and change facility instruction, tool clamp Tool is changed, the tool that changes completes agricultural equipment automatic control system and sends out and complete signal；Preferred i, the M functions are realized, are System is sent out M and is instructed to PLC, by decoding, exports and controls signal, and control main shaft rotating and startup stopping etc., M, which is instructed, to be completed, System, which is sent out, completes signal；Preferred j, the S function treatments, the PLC directly specified rotating speeds of four codes；Preferred C, it is described (PLC, module include the programmable controller of movement and PLC control task modules：Common signal module, basic control module, work Have module, main shaft module；The public affairs of programmable controller (PLC) module of preferred D, the movement and PLC control task modules Signaling module mainly handles the interface signal between PLC and automatic control device altogether；Preferred E, the movement and PLC controls The basic control module of programmable controller (PLC) module of task module be mainly used to handle emergent stopping, lubrication, cooling, The signals such as mode selects, hand feed, program start and stop；The programmable control of preferred F, the movement and PLC control task modules The tool model of device (PLC) module processed：The processes such as selection tool, positioning for tool rack carry out logic control；Preferred G, institute State programmable controller (PLC) module main shaft module of movement and PLC control task modules：For to main shaft rotating, main shaft The action process such as orientation, main shaft speed change are controlled；Module includes two kinds of control logics of servo principal axis and frequency spindle, can lead to Modification PLC parameters are crossed to switch over；Programmable controller (PLC) mould of preferred H, the movement and PLC control task modules Block includes：The software of PLC is divided into system software and user program two parts, and preferred a, the system software is to control PLC The running of itself, including system supervisor, user instruction interpretive program and standardization program module；System supervisor is used to manage The whole service of reason, control agricultural equipment automatic control system；Preferred b, the user program are worked out by the user of PLC And input, for controlling the operation of external controlled device；The programmable control of preferred I, the movement and PLC control task modules The course of work of the PLC of device (PLC) module processed is divided into input sample, program performs, output refreshed for three stages；PLC's is worked Journey is to carry out periodic cycle scanning in by three stages；Preferred J, the movement and PLC control task modules may be programmed The PLC of controller (PLC) module is in the input sample course of work：Included by PLC is sampled in order first in the input sample stage Input terminal, and by the state of input point or input data deposit memory in each corresponding input image register, that is, input Refresh, close input port immediately；It subsequently enters program and performs the stage, the stage is performed in program, even if input state includes becoming Change, inputting the content of image register will not change；The state that input signal has changed can only be in next scan period The input sample stage is read into；Programmable controller (PLC) module of preferred K, the movement and PLC control task modules PLC performs the stage course of work in program：Stage PLC is performed to user program sequential scan in program, is referred to performing each When enabling, the state of required input signal can be read in from input image register, and current output state is posted from element image Storage is read in, and then carries out corresponding logical operation by program, and operation result is restored again into element image register；To each Element, the content of element image register can change with the implementation procedure of program；Preferred L, the movement and PLC controls The PLC of programmable controller (PLC) module of task module processed is in the output refreshing stage course of work：When included instruction performs It finishing, the state of included output relay dumps to output latch in the output refreshing stage in element image register, and It is exported by certain mode, drives external loading；The PLC technology of preferred M, the movement and PLC control task modules The programming language of the PLC of device (PLC) module includes ladder diagram, statement list, function chart, instruction catalogue, structure text；Preferred N, It is described movement and PLC control task modules PLC trapezoid figure programs be divided into common program, Aligning control program, Spindle control program, Reference axis control program, alert process program, timed lubrication control program, cooling control program, automatic tool exchange program；It is excellent The 48 of choosing, a kind of software product of agricultural equipment automatic control system includes：A kind of automatic control system software production The system creation of product and operation program；Preferred 49, a kind of wound of the software product of agricultural equipment automatic control system The methods and procedures flow of the operation program of automatic control system software product is built, including：Preferred A, a kind of agricultural machinery The instantiation of the basic component class (function module, data cable, parameter) of the program of device automation control system software product； Preferred B, the loading system parameter；Preferred C, the activation system periodic duty；Preferred D, a kind of agricultural machinery are set Called resource is discharged after the EP (end of program) of standby automatic control system software product；Preferred 50, a kind of agricultural machinery is set The program of standby automatic control system software product is made of two core classes：Preferred A, it is described to define main Activity's Class；Preferred B, the automatic control system core classes；Preferred 51, a kind of agricultural equipment automatic control system is soft Its function of the class of the main Activity of definition of part product program includes：Preferred A, the instantiation agricultural equipment automation control System kernel；Preferred B, the startup agricultural equipment automatic control system periodic duty；Preferred C, the closing agricultural machinery Called resource is discharged after device automation control system program；Preferred D, the control agricultural equipment automation control system The changing interface of system program, content are shown and action response；Preferred 52, the agricultural equipment automatic control system software production The core classes of product program are responsible for creating the basic component and initiation parameter of agricultural equipment automatic control system, perform control agriculture The periodic task of machine equipment automatic control system；Preferred 53, a kind of agricultural equipment automatic control system it is soft Part product includes function module；The function module is a program unit, for completing the calculation processing requirement of control function； Preferred 54, a kind of software product of agricultural equipment automatic control system includes data cable module；The data electricity Cable is one group of variable；The data cable includes character string, double-precision array, shaping type number；Represent automated agricultural machine equipment work Make program segment, the starting point of interpolation line segment, terminal, feed speed, interpolation position instruction etc.；The data cable is used for each function mould It is connected between block, forms complete control data flow, the operation of auto-control agricultural equipment；Preferred 55, a kind of agricultural machinery The software product of device automation control system includes parameter module；The parameter module is used to automate for a kind of agricultural equipment The control module configuration operating parameter of control system；Preferred 56, a kind of software of agricultural equipment automatic control system Each function module, data cable module and the parameter module of product correspond to programming language (C language；C Plus Plus；JAVA language； Other language) a class, tool includes clearly and unique definition, and program structure is clear, and wherein mainstream signal is by automation agriculture Machine equipment working procedure is read in module and is started, and handles through included function module, is finally exported by external device communication module, controls External equipment and automated agricultural machine equipment moving processed；Preferred 57, a kind of software of agricultural equipment automatic control system The purposes and function of the function module of product include：Display and operation；System operation management；Automatic control system program is read Enter；Decoding；Coordinate system is set；Automated agricultural machine equipment tool compensates；Interpolation；Hand feed；Interpolator/manual switching；Coordinate Transformation；Automated agricultural machine equipment bed body error compensation；The transmission matching of automated agricultural machine equipment bed body；PLC is controlled；Fieldbus drives It is dynamic；Preferred 58, a kind of function of the data cable module of the software product of agricultural equipment automatic control system includes： Automated agricultural machine equipment working procedure information；System operatio order；System information；Automated agricultural machine equipment working procedure section；PLC Control statement；Motion control instruction section；Coordinate system is set；Interpolation director data；Interpolation position；Hand feed position；Interpolation/hand Dynamic module position；Coordinate transform coordinate shaft position；Error compensation coordinate；Servo instruction position；Digital output port；Digital quantity Input port；Automated agricultural machine equipment operation panel；Preferred 59, a kind of software of agricultural equipment automatic control system The parameter type of the parameter module of product includes：Working region coordinate system setting class；Agricultural equipment power tool program manages class； Interpolation class；Coordinate transform class；Reference axis class；Bus communication class；Preferred 60, a kind of agricultural equipment automatic control system The system data of software product include：The data such as constant, data cable, configuration parameter, system information, system operatio order, It is for the data exchange element between function module, is used for related function module；For the normal of system command and working condition Class definition is enumerated in number use；Eclipse tools provide system data establishment and management environment；System data is automation control system System provides data type；Preferred 61, a kind of system data of the software product of agricultural equipment automatic control system Constant provides consistent compiling parameter, system operation command code, system mode code, system for automatic control system program Working method code, system configuration code, fixed numbers, enhancing program readability, are easily changed；Preferred 62, a kind of agricultural machinery The constant of the system data of the software product of device automation control system includes 5 type purposes；Its purposes includes：Preferably A, the system configuration parameter, which is compiled for program and the required fixed constant of operation, such as：System controlling cycle, The system maximum control number of axle, maximum tool compensation number etc.；Preferred B, the working state of system code, the code represent work( The operating status of energy module；Preferred C, the system operation command code, the code represent that system operation management module is sent out System operation order；Preferred D, the system operating mode code, the code represent system man machine operation interface module hair The system operating mode order gone out；Preferred E, the fixed numbers, the numerical value provide fixed constant for mathematical operation formula； Preferred 62, a kind of parameter of the system data of the software product of agricultural equipment automatic control system is set by parameter Put, automatic control system user make the function of agricultural equipment automatic control system software product and automated agricultural machine equipment with And the automated agricultural machine equipment course of work matches；Parameter preserves in memory, uses the file pipe of computer operating system Reason device can be inputted, be shown, editing, changing and management parameters；Preferred 63, a kind of agricultural equipment automatic control system The parameter of system data of software product include：Systematic parameter, automated agricultural machine device parameter, the work of automated agricultural machine equipment Parameter, various harvesting parameters, various site preparations cultivated land job parameter, various job parameters of transplanting seedlings, various weeding job parameters, Various fertilising operation parameters, various spray drug operation parameters, various seeding operation parameters, various picking job parameters, various transports Job parameter；Agriculture, woods crop management job parameter, other parameters；Preferred 64, a kind of agricultural equipment automation control system The systematic parameter of the parameter of the system data of the software product of system by the basic parameter of system parameter setting system operation, supplies Internal system, which calculates, to be used, such as：Interpolation cycle, largest motion acceleration, maximum movement speed value, external device communication data Frame format etc.；Preferred 65, a kind of automation of the system data of the software product of agricultural equipment automatic control system Agricultural equipment parameter, by automated agricultural machine device parameter make a kind of agricultural equipment automatic control system software product with it is automatic Change agricultural equipment function, structure, feeding transmission, servo programe, servo motor, fieldbus, external equipment and ancillary equipment just Really matching；Preferred 66, a kind of parameter of the system data of the software product of agricultural equipment automatic control system from Dynamicization agricultural equipment running parameter is used to preserving and providing automation including tool parameters and coordinate system parameters, such as tool parameters Tool length and radius compensation data needed for the agricultural equipment course of work；Coordinate system parameters are used to provide automated agricultural machine equipment Working region coordinate system setting data needed for the course of work；Preferred 67, a kind of agricultural equipment automatic control system Software product management program system data data cable；For data exchange to be connected and completed between function module Variable；Preferred 68, a kind of system data of the software product of agricultural equipment automatic control system includes：Preferred A, The constant of the system data enumerates (CMD) class including system operatio order；It is controlled for system operation management module to system The operational order code that module is sent starts the decoding of automated agricultural machine equipment working procedure, starts the operations such as interpolation；Preferred B, The constant of the system data includes computational constant class；For providing constant fixed numbers for system-computed, to improve program It is readable；Preferred C, the constant of the system data enumerates class including system operating mode, for system operation management module Mode of operation command code is sent to system control module, such as：Automated manner, manual mode, file (parameter) edit mode；It is excellent The D of choosing, the constant of the system data enumerate class including module working condition；For control module to system operation management module Working condition code is sent, such as：Ready, operation, end etc.；Preferred E, the constant of the system data are matched including system Put constant class；Control program for the system software product for automation control provides compiling constant, becomes including system array Dimension, system controlling cycle of amount etc.；Preferred F, the types of variables of the system data are defined as system control module offer Unified types of variables definition, can use for multiple control modules；Preferred G, the types of variables definition of the system data Including decoding word class；It is the dtd--data type definition of decoder word variable；Preferred H, the variable class of the system data Type definition includes preparatory function class；The data type of preparatory function is decoded, can be referred to according to the interpolation function of automatic control system Enable definition；Preferred I, the types of variables definition of the system data include assisting function class；The data class of decoding auxiliary function Type, can be according to the auxiliary function instruction definition of automatic control system；Preferred J, the types of variables definition of the system data Including position command class；The position command data type that decoder uses, can be according to a kind of agricultural equipment automatic control system The position command definition of the program of software product, controls relevant instruction code numerical value to be stored in position command with coordinate position In the corresponding element of structure, subsequent control command is formed；Preferred K, the parameter of the system data include control parameter and Running parameter；Preferred L, the control parameter of the parameter of the system data include making automatic control system by control parameter It is set with automated agricultural machine functions of the equipments, structure, feeding transmission, servo programe, servo motor, fieldbus, external equipment auxiliary Standby correct matching；Using an automation control platform, the automated agricultural machine of multiple types and specification can easily be controlled to set It is standby；Preferred M, the control parameter of the parameter of the system data include feed shaft parameter class, and feed shaft parameter is for controlling Matching and error compensation of the system with automated agricultural machine equipment feed shaft；Preferred N, the control parameter of the parameter of the system data Including external device communication parameter class, external device communication parameter is used for a kind of agricultural equipment automatic control system software product Program and the communication configuration of external equipment fieldbus；Preferred 0, the control parameter of the parameter of the system data includes decoding Parameter class；Decoding parameter provides parameter for decoder；Preferred P, the control parameter of the parameter of the system data include interpolation Parameter class；Interpolation parameters be with the relevant parameter of automated agricultural machine equipment moving speed control, be moving interpolation and hand feed Movement provides speed control parameter；Preferred Q, the data cable of the system data include reference axis position class；Preferred R, The data cable of the system data includes PLC control statement classes；The output data cable of decoder module, includes a kind of agricultural machinery The auxiliary function control instruction of the program segment of device automation control system software product；Preferred S, the ginseng of the system data Several control parameters includes coordinate conversion parameter class；Coordinate conversion parameter provides automated agricultural machine equipment knot for coordinate transformation module The parameters such as structure type and structure size；Preferred T, the running parameter of the parameter of the system data include working region coordinate system Arrange parameter class；Working region coordinate system arrange parameter is used for coordinate system setup module；Preferred U, the system data The running parameter of parameter includes tool parameters class；Tool parameters are used for tool compensation module；Preferred V, the system data Data cable be in control system it is various control variables combinations；For the data connection between function module, make automation Control system program structure is clear, and the relationship of data flow and control module is clear and definite；Preferred W, the data electricity of the system data Cable includes reference axis position class；It is described that each movement for representing automated agricultural machine equipment is included including reference axis position data cable The aray variable of coordinate position is used for other data cable classes as unified external elements；Preferred X, the system number According to data cable include error compensation position class；The output data cable of error compensation module, data cable is used as interior Portion's element；Preferred Y, the data cable of the system data include motion control instruction section class；The output number of decoder module According to cable, a kind of motion control instruction of the program segment of agricultural equipment automatic control system software product is included；Preferred Z, The data cable of the system data includes servo instruction position class, reference axis position class, coordinate system setting class, hand feed position Put class, interpolation/hand feed switching position class；Interpolation position class；Preferred 69, a kind of agricultural equipment automation control system The system data of the software product of system includes：Preferred A, the data cable of the system data include interpolation director data class； By coordinate system setting and tool compensation treated interpolation director data；Preferred B, the data cable packet of the system data Include digital quantity input port class；The output data cable of external equipment fieldbus communications module represents the input of system digits amount The state of port；Preferred C, the data cable of the system data include digital output port class；The digital quantity of PLC module Output data cable passes through the state of external equipment fieldbus communications module control system output port；Preferred D, it is described The data cable of system data includes automated agricultural machine equipment working procedure section class；Preferred E, the data electricity of the system data Cable includes automated agricultural machine equipment working procedure info class；The output data cable of man machine operation interface module, provides automation Agricultural equipment working procedure information；Preferred F, the data cable of the system data include automated agricultural machine equipment operation panel Class；The output data cable of PLC module reads in automated agricultural machine equipment operation by external equipment bus from system input mouth Button state；Preferred G, the data cable of the system data include actions menu control key class；Man machine operation interface module The operation control key state of display screen is sent to system operation management module by output data cable；Preferred H, the system number According to data cable be characterized in that：Including system information class；Function module is by system information data cable to system operation pipe It manages module and display operation module sends working condition；Preferred I, the data cable of the system data are ordered including system operatio Enable class；The operation order that system operation management module is sent out to each control module, the operation of control system；Preferred J, the system The data cable for data of uniting includes coordinate transform reference axis position class；The output data cable of coordinate transformation module, by coordinate Coordinate shaft position after transformation calculations；Preferred 70, a kind of software product of agricultural equipment automatic control system from The working procedure of dynamicization agricultural equipment includes automatically controlling the character set of programming instruction standard, G instruction set, M instruction set, self-defined Code；Preferred 71, a kind of software product of agricultural equipment automatic control system works according to automated agricultural machine equipment The movement of program auto-control agricultural equipment and the start and stop of miscellaneous function action such as main shaft；Automated agricultural machine equipment work journey Sequence is made of character and digital code；The movement velocity of automated agricultural machine device coordinate axis, position and miscellaneous function action all by Unique corresponding character or digital code；Preferred 72, a kind of software product of agricultural equipment automatic control system Automated agricultural machine equipment working procedure with text files memory computer (PC machine) file storage medium；Preferred 73, institute It states a kind of software product of agricultural equipment automatic control system and includes automated agricultural machine equipment working procedure preprocessing tasks mould Block；The automated agricultural machine equipment working procedure preprocessing tasks module it is characterised in that it includes：Automated agricultural machine equipment works Program and instruction submodule, automated agricultural machine equipment working procedure read in submodule；Decoder submodule；Coordinate system sets submodule Block；Automated agricultural machine equipment tool compensates submodule；Preferred 74, a kind of software of agricultural equipment automatic control system Product includes motion control task module；The motion control task module, which is characterized in that including：Interpolator submodule；Hand Dynamic feeding submodule；Interpolator/manual switching submodule；Coordinate transform submodule；Automated agricultural machine equipment error compensates submodule Block；Automated agricultural machine equipment bed body transmission matched sub-block (program)；Preferred 75, a kind of agricultural equipment automation control The software product of system is made of major control data stream process task, system operatio and operation control process task；The master control Data Stream Processing task processed, by decoder, by a kind of automated agricultural machine equipment work of automatic control system software product Make Program transformation into the control action of automated agricultural machine equipment；The motion control data stream by operating area coordinate shift, Tool compensation, interpolation, coordinate transform, the compensation of automated agricultural machine equipment error, automated agricultural machine equipment transmission matching module, generate Reference axis motion control data；Hand feed module be used for automated agricultural machine equipment feed shaft manual operation, generate manually into Give control data；External device communication module realize a kind of hardware of the method for automation control and servo-drive, main shaft drives, The data communication and control of the ancillary equipment of automated agricultural machine equipment；A kind of data flow control automated agricultural machine equipment moving Track, for generating the movement of the reference axis of automation agricultural equipment；Another data flow control automated agricultural machine equipment The actions such as agricultural equipment power tool are replaced in miscellaneous function such as main shaft start and stop.

Preferably, a kind of operation principle of agricultural equipment automatic control system hardware product is by various inputs Mode receives the various data informations of agricultural equipment automatic job, is decoded by automatic control device, then carry out computer Then the component of each reference axis is sent to the driving circuit of each control shaft by processing, operation, watched by converting, amplifying driving Motor is taken, each axis movement of agricultural equipment is driven, and carry out real time position feedback control, enables each reference axis of agricultural equipment accurate Ground goes to required position；Preferably, a kind of agricultural equipment automatic control system hardware product includes：It is a kind of automatic Change control device, a kind of driving device and a kind of electric logic control device；Preferably, a kind of agricultural equipment automation control 3 kinds of devices such as automatic control device, driving device and electric logic control device of system hardware product processed are connect by I/O Mouth interconnection；Preferably, a kind of agricultural equipment automatic control system hardware product by CPU, memory, display, keyboard, Programmable controller (PLC), driver, external apparatus interface composition；Preferably, a kind of agricultural equipment automation control system System hardware product includes：A kind of automatic control device；Preferably, a kind of agricultural equipment automatic control system hardware production A kind of automatic control device of product is realized using PC machine (or computer or similar computer equipment)；Preferably, described one A kind of automatic control device of kind agricultural equipment automatic control system hardware product includes：Preferred 1, it is described a kind of automatic Change control device to include：Input unit, memory, controller, arithmetic unit, output device, preferred 2, a kind of automation The input unit of control device includes：Keyboard controls medium, disk, string (or simultaneously) row communication mode etc.；For operating personnel to Automatic control device inputs operational order；Preferred 3, a kind of display of the output device of automatic control device； Display be used for displaing coordinate value parameter and instruction code, function code, agricultural equipment operating area or with agriculture, the figure of woods crop Display；(such as coordinate value, working procedure, alarm signal)；Preferred 4, a kind of input/output of automatic control device The I/O interfaces of device, for the output of feed shaft control；It is exported for the control signal of manipulator；For the control of main shaft speed change The output of signal processed；For the output of tool device or tool rack control signal；For feeding the input of feedback signal；For work Has the output of signal etc. in place of frame manipulator；Preferred 5, a kind of input/output device of automatic control device leads to Casually contacting between automatic control device and other communication equipments and transmit the work journey of agricultural equipment automated job Sequence, while also meet the requirement of DNC and FMS；Preferred 6, a kind of computer plate of automatic control device is by high-speed CPU The computer system of composition or the distributed system being made of multi -CPU；Mainly undertake a kind of agricultural equipment automatic control device Basic control and the tasks such as decoding, interpolation operation and the speed pretreatment of user program, feedback control, output control, generation Position and speed command and ancillary control function information etc.；Preferred 7, a kind of automatic control device tool includes undertaking The input of agricultural equipment working procedure and editting function；Preferred 8, a kind of automatic control device tool include to identify with Run the instruction code function of a variety of International standardizations；Preferred 9, a kind of automatic control device tool includes that height can be provided The feeding control function of performance；Preferred 10, a kind of automatic control device tool includes human-computer interaction function function；It is preferred that 11, a kind of automatic control device tool includes that multi-computer communication and automated agricultural machine equipment availability state communication work(can be carried out Energy；Preferred 12, a kind of a kind of automatic control device of agricultural equipment automatic control system hardware product has one Fixed fault diagnosis, feedback control function；Preferred 13, a kind of automatic control device tool includes controlling the number of axle and linkage Number of axle function, preparatory function (G functions), interpolation function, spindle-speed function, compensation function, feed function, fixed cycles work( Energy, miscellaneous function (M codes), character graphics display function；Preferred 14, a kind of automatic control device is a kind of Dan Wei Processor hardware structure；Preferred 15, a kind of unimicroprocessor automatic control device is with a CPU (central processing Device) it is core, CPU is connected by bus with memory and various interfaces, takes centralized Control, and the working method of time-division processing is real Existing automatic control device various functions, the CPU to input through keyboard and CRT display processings, into row decoding, tool compensation calculate with And interpolation etc. is handled in real time；Preferred 16, a kind of automatic control device is a kind of multimicroprocessor hardware configuration；It is preferred that 17, a kind of multimicroprocessor automatic control device of agricultural equipment automatic control system hardware product a kind of be from Dynamicization control device includes two or more CPU, i.e., certain function modules itself band in automatic control system CPU；Preferred 18, a kind of automatic control device includes microprocessor, memory, bus, interface etc.；Preferred 19, A kind of interface of automatic control device includes：I/O interfaces, serial line interface, CRT/MDI interfaces, control unit component and Interface circuit, such as position control unit, programmable controller, Spindle control unit and other option interfaces；Preferably 20, the interface between a kind of automatic control device and agricultural equipment is included between drive control device and measuring device Circuit is connected, the information of transmission is between automatic control device and servo unit, servo motor, position detection and velocity measuring Control information, they belong to digital control, SERVO CONTROL and detection control；Preferred 21, the automatic control device Power supply and protection circuit are made of the power control circuit in automated agricultural machine equipment forceful electric power circuit, forceful electric power line routing power transformation Device, relay, contactor, protection switch, fuse, etc. be formed by connecting, be driving spindle motor, stand-by motor, electromagnet, from Clutch constant power executive component is powered；Forceful electric power circuit cannot be directly connected to the control circuit or weak circuit to work under low pressure, be led to Cross the conversions such as intermediate relay, thermal protector, control switch；Preferably, a kind of agricultural equipment automatic control system is hard ON/OFF signal and code the connection circuit of the automatic control device of part product are that automatic control device is referred to agricultural equipment Point, limiting, panel-switch etc. and the signal of some miscellaneous functions output control connection；When agricultural equipment does not have PLC, these Signal directly transmits between automatic control device and agricultural equipment, defeated by PLC in addition to high speed signal when there is PLC Enter/export.Preferably, a kind of automatic control device of agricultural equipment automatic control system hardware product is set with agricultural machinery The standby signal exchanged includes switching signal, analog signal, pulse signal, these signals carry out conversion process by interface just can be with It is connect with automatic control device；Preferred 22, the task of the interface circuit of the automatic control device mainly includes：It is preferred that A, the level conversion, the signal of automatic control device is Transistor-Transistor Logic level, and controls agricultural equipment and from agricultural equipment Electrical signal levels are not Transistor-Transistor Logic levels, therefore to carry out level conversion, according to heavy duty situation, carry out power amplification；Preferred B, A/D, D/A conversion, the microprocessor of automatic control device can only handle digital quantity and the control of analog quantity used Analog input to automatic control device is used analog/digital (A/D) converter by D/A (D/A) converter；Preferred C, institute Stating prevents noise from causing malfunction, and external interference information is blocked to enter computer, will be automatic with photoelectrical coupler or relay The signal changed between control device and agricultural equipment is isolated on electric appliance；Preferred 23, a kind of automation control dress The PLC module put is the module that automatic control device realizes sequential control；The effect of PLC module：Receive from operation panel, Each travel switch, sensor, knob on agricultural equipment, the relay in heavy current cabinet and Spindle control, tool storage room control Including OFF signal, the operation of control corresponding electric appliance part is gone in output after processing；Preferred 24, a kind of automatic control device Medium Dependent Interface (manual data input) be by the keyboard operation on automation control panel；Micro- place of automatic control device When managing device scanning to the signal for pressing lower key, data are sent to shift register, the output of shift register is checked through alarm, if pressing Key includes effect, and button data under the action of gating signal is controlled, be sent into RAM and deposit by chosen device, shift register, data/address bus Storage is got up, if button invalid data is not sent into RAM；Preferred 25, a kind of position control module of automatic control device It is the important component of feed servo-system, is when realizing TRAJECTORY CONTROL, automatic control device connects with servo drive system The interface module connect；Each feed shaft corresponds to a set of positioner；Positioner is under the instruction of automatic control device Electric appliance is controlled to drive distance as defined in the speed movement of agricultural equipment as required, axis control is to realize each axis movement and positional precision When controlling and be multi-shaft interlocked, it is desirable that each shifting axle includes cooperation well；Preferred 26, a kind of automatic control device Automatic control system management module be to realize management and organize the entire required work(of the automatic control system course of work Energy；Such as system initialization, interrupt management, bus ruling, system fault identification and processing；Preferred 27, a kind of automation Before the interpolations such as the interpolation module of control device completes decoding, tool compensation calculates, coordinate displacement amount calculates and feed speed is handled Pretreatment；Then interpolation calculating is carried out again, and position specified rate is provided for each axis of agricultural equipment；Preferred 28, described one kind is certainly The position control module of dynamicization control device is the actual value that the coordinate position set-point after interpolation is measured with position detector It is compared, carries out automatic deceleration, reference point, the monitoring of servo-drive system hysteresis and drift compensation, finally obtain speed The analog voltage of control removes driving feeding motor；Preferably, a kind of purposes of the PLC module of automatic control device is It is that the signal of miscellaneous function and agricultural equipment in agricultural equipment work makees logical process in PLC module, realizes each function Connection between mode of operation, start and stop, tool exchange, the counting of the duration of runs of agricultural machinery electrical equipment etc.；Preferred 29, institute It states a kind of memory module of automatic control device and refers to data biography between the main memory or function module of storing program and data The shared memory sent；Preferred 30, a kind of microprocessor of automatic control device is made of arithmetic unit and controller, Complete control and evaluation work；Preferred 31, a kind of control task of the controller of automatic control device is：From program That is taken out successively in memory instructs, is interpreted, sends out the control for performing operation in order to automatic control device each section Signal is carried out instruction, and receives the feedback signal of execution unit return, command information of the controller in program And feedback information, determine next step command operation, the task of arithmetic unit is translating for agricultural equipment automated job working procedure Code, tool compensation calculate, position control calculates and the calculating and logical operation of other data；Preferred 32, it is described a kind of automatic The system bus for changing control device is by the relatively independent device such as microprocessor, memory and input/output interface or function Component connects, and transmits the public passage of information, including controlling bus, address bus and data/address bus；Preferred 33, A kind of display card module of automatic control device receives control command and display data from CPU, through being swept with CRT After retouching signal modulation, the vision signal needed for CRT monitor is generated, required picture is generated on CRT；Preferred 34, it is described A kind of memory of automatic control device includes read-only memory (ROM)：System program；Random access memory (RAM)：Operation Intermediate result, the data that need to be shown, running state, flag information；Preferred 35, a kind of automatic control device CMOS ROM or magnetic bubble memory：Agricultural equipment automated job working procedure, agricultural equipment parameter, tool parameters；Preferably 36, a kind of position control unit of automatic control device is to the coordinate shaft position of the feed motion of automated agricultural machine equipment It controlled (including position and speed control), controlled to the speed control of main shaft, to tool storage room position；Preferred 37, it is described A kind of automatic control device includes man-machine interface part, motion control portion, I/O controls or programmable controller (PLC), agriculture Storage, input/output interface, data communication interface of machine equipment working procedure etc.；Preferred 38, a kind of automation control Device is a kind of multiple microprocessor structure or the automatic control device of single microprocessor structure；Preferred 39, described one kind is certainly The multiple microprocessor structure automatic control device of dynamicization control device is more sampling module structures, and tool includes flexibility and extension Property, it is compact-sized；Preferred 40, a kind of function of the automatic control device of the multimicroprocessor of automatic control device Module include automatic control system management module, automatic control system interpolation module, PLC (programmable controller) module, Position control module, Spindle control module, operation panel control and display module, main memory module；Preferred 41, described one Kind automatic control device receives the information of input medium, and will be identified, and stored with code, operation, and output refers to accordingly Pulse is enabled to drive servo-drive system, and then controls agricultural equipment action；Preferred 42, a kind of automatic control device is pair Agricultural equipment is controlled, and the dedicated computer for the work operations needed for area that fulfil assignment；It receives digitized operation The information such as region pattern (or operating area agriculture, woods crop pattern) and agricultural equipment work technique, according to certain mathematical modulo Type carries out interpolation operation, and with operation result in real time each coordinates of motion of agricultural equipment are carried out with speed and position control, is completed Operation needed for operating area；；Preferred 43, a kind of agricultural equipment automatic control device be a kind of dedicated computer or Similar computer installation or PC machine or microcomputer.

Preferably, a kind of a kind of driving device of agricultural equipment automatic control system hardware product includes：It is preferred that 1, a kind of driving device includes：Main shaft driving device and feed drive unit；Driving device is by driving circuit and driving Motor form, and be driven with the main transmission of the mechanical transmission component composition automated agricultural machine equipment on agricultural equipment and feeding System；Preferred 2, a kind of main shaft driving device of driving device receives the steering from PLC and rotary speed instruction, by work( Driving spindle motor rotation after rate amplification；Preferred 3, a kind of feed drive unit of driving device is in each interpolation cycle Inside receive the displacement commands of automatic control device, feed motor rotation is driven after power amplification, while complete speed Control and feedback control function；Preferred 4, a kind of driving device driving includes stepping motor, direct current with control object Servomotor, AC servomotor；Driving device includes open loop driving device, semiclosed loop driving device, close-loop driven dress It puts；Preferred 5, a kind of feed servo-system of driving device receives from automatic control system to each coordinates of motion The speed command that axis provides respectively, through speed and the driving servo motor rotation of electric current (torque) adjuster output drive signal；It is real Existing each reference axis movement of automated agricultural machine equipment；Receive feedback speed signal simultaneously and implement velocity close-loop control；Automated agricultural machine Equipment feed servo-system is communicated by PLC with automatic control system, is notified to current working condition and is received automation control The control of system；Preferred 6, a kind of tachometric survey of driving device is completed using the velometer in motor；It tests the speed Motor actual speed is matched into voltage value and sends servo drive system back to as feedback speed signal by device, with command speed voltage Value compares, so as to fulfill the accurate control of speed；Preferred 7, a kind of position detector of driving device is to automation The physical location of each reference axis of agricultural equipment in operation carries out direct or indirect measurement；Measured value is fed back into automation control System processed and compared with command bits phase shift until reference axis reaches command bits positions, so as to fulfill the accurate control to position；It is excellent The 8 of choosing, include between the electrical equipment and automatic control system of a kind of driving device：On/off signal and code signal Connection circuit is the input/output control signal that automatic control system is transmitted to driving device；Preferred 9, a kind of driving Velocity sensor on the motor of device is set, various information (such as temperature, pressure are set on each device of automated agricultural machine equipment Power, gravity, position, humidity, other) sensor, setting load device in Speed Drive system；Speed drive and motor Between be connected with each other by power cord, electric current (or/and voltage) sensor is set on power cord；Automatic control system and speed Servo drive system signal connects；Electric current (or/and voltage) sensor and velocity sensor are connect respectively with load device signal；It is negative Device is carried to connect with computer automation control system signal；Various information sensors are connect with automatic control system signal；Respectively Kind information sensor obtains the actual information signal of sliding block in the automation each device of agricultural equipment；Electric current (or/and voltage) passes Sensor obtains electric current (or/and voltage) signal, and velocity sensor obtains speed signal；Electric current (or/and voltage) sensor and speed Detection information signal, current signal and location/velocity signal are input in load device are counted accordingly respectively by degree sensor It calculates in device, the actual loading torque (actual speed) of sliding block in each device of automated agricultural machine equipment is obtained after calculating；It is various The actual information signal and actual speed signal of information sensor detection feed back to automatic control system and carry out position, each respectively The complex controll of kind information, speed；Final control signal is obtained by automatic control system, and final control signal It comes in and goes out to speed drive, servo motor is output to by speed drive, final control signal is realized by servo motor Operation；Preferred 10, a kind of driving device is as automatically controlling for controlled quentity controlled variable using the position of moving parts and speed System；Preferred 11, a kind of driving device include position control unit, speed unit, driving unit (motor), detection with it is anti- Present unit, mechanical operating parts；Preferred 12, a kind of driving device is using mechanical location or angle as control object Automatic control system；It receives the feeding command signal for carrying out agricultural equipment automatic control device, transformed, adjusting and amplification After drive executive item, be converted into straight line or rotary motion；It is that agricultural equipment automatic control device and agricultural equipment contact ring Section；Preferred 13, a kind of driving device is a kind of Stellungsservosteuerung (or drive system or servo-drive system or servo mechanism Or servo unit)；Preferred 14, the function that a kind of driving device tool includes includes：The high function of positional precision；Driving dress The output quantity put can reappear input quantity；The displacement and the command pulse of the command pulse requirement agricultural equipment feeding of driving device Meet displacement accuracy between converting agricultural equipment actual displacement amount through servo-drive system；With the good function of stability, have stronger Antijamming capability ensures feed speed uniformly, steadily；It is fast with dynamic response, it is desirable that the sound of servo-drive system trace command information It should want fast；With speed-regulating range width, low-speed big function；Preferred 15, a kind of driving device is automatic from agricultural equipment Networked control systems receive small electric signal, zoom into the drive signal of forceful electric power, and the executive component to drive servo-drive system (is watched Take motor), by the variation of automatically controlled signal, the angular displacement of motor output or the variation of angular speed are converted into, so as to drive agricultural machinery Each axis movement of equipment realizes the speed control of each axis movement and position control to agricultural equipment, it is automatically complete to reach agricultural equipment Into required work；Preferred 16, a kind of driving device is by servo motor, drive signal control conversion circuit, power electronics The compositions such as drive amplification module, electric current conciliation unit, speed adjustment unit, position conciliation unit and corresponding detection device；It is excellent The 17 of choosing, a kind of position ring of driving device are reconciled control module, position detection and feedback fraction by position and are formed；It is preferred that 18, a kind of speed ring of driving device by speed compares demodulator, velocity feedback and speed detector, and (such as test the speed hair Motor, photoelectric pulse coder etc.) composition；Preferred 19, a kind of electric current loop of driving device is by electric current demodulator, electric current Feedback and current detecting link composition；Preferred 20, a kind of power electronics driving device of driving device is by drive signal Generation circuit and power amplifier composition；Preferred 21, a kind of drive control unit of driving device turns instruction is fed The signal form needed for executive component is turned to, which is converted into corresponding mechanical displacement by executive component；Preferred 22, it is described A kind of open loop servo system of driving device is made of drive control unit, executive component and agricultural equipment；Agricultural equipment is automatic Networked control systems send out command pulse and convert and amplify by driver circuit, are transmitted to stepper motor；Stepper motor often receives one Command pulse just rotates an angle, then agricultural equipment is driven to move by gear pair and screw pair；The frequency of command pulse Rate determines the rotating speed of stepper motor, and then determines the velocity of displacement of each device of agricultural equipment；The quantity of command pulse determines The angle of stepper motor rotation, and then determine each device displacement of agricultural equipment；Preferred 23, a kind of driving device Closed loop (semiclosed loop) servo-drive system by executive component, drive control unit, agricultural equipment and feed back detecting element, compare ring Section composition, feedback detecting element include velocity feedback and position feedback, and closed loop servo system uses position feedback elements by agricultural machinery Comparing element is fed back to after the physical location detection of each axis of equipment, command signal and feedback signal are compared by comparing element, Using the difference of the two as the tracking error of servo-drive system, driven through drive control unit and control executive component that agricultural machinery is driven to set Received shipment moves；Preferred 24, a kind of detection device of driving device is used to detect displacement (displacement of the lines or angular displacement) and speed, Feedback signal is sent to automatic control device, forms servo-drive system closed loop or half-closed loop control, make each device of agricultural equipment by Command path accurate movement；Preferred 25, a kind of detection device of driving device is by detecting element (sensor) and signal Processing unit forms；Preferred 26, a kind of detection device of driving device includes：Rotary transformer, inductosyn, volume Code device, grating, magnetic grid etc.；Preferred 27, a kind of detection device measurement method of driving device includes：Directly measure, Connect measurement, digital measurement, analog measurement, increment type measurement, absolute type measurement；Preferred 28, a kind of driving device Servo-drive system be a kind of electrohydraulic servo system；Preferred 29, a kind of driving device is a kind of electric servo-drive system (stepping Servo-drive system, DC servomechanism, AC servo)；Preferred 30, a kind of driving device is a kind of pulse, number Compare servo-drive system (or phase bit comparison servo-drive system or amplitude com parison servo-drive system or MPU Controlled All Digital Servo System)；Preferred 31, A kind of driving device is the contact link of agricultural equipment automatic control device and agricultural equipment；Agricultural equipment automation control The control information that device processed is sent out by servo drive system, is converted into the movement of reference axis, completes the behaviour of program defined Make；Preferred 32, a kind of driving device is the driving equipment with machinery for movement, motor object in order to control, with control Device is core, using electric and electronic power converting means as executing agency；Executive component is used as with actuating motor, the electricity received Signal is converted into angular displacement or angular speed output on motor reel.

Preferably, a kind of a kind of electric logic device of agricultural equipment automatic control system hardware product includes： Preferred 1, a kind of electric logic device includes programmable control system (PLC) and relay-contactor control system；It is excellent The 2 of choosing, a kind of programmable control system (PLC) of electric logic device includes CPU, memory, input/output interface mould Block, peripheral interface module and programmable device, expansion interface and expansion module；Preferred 3, a kind of electric logic device is compiled The CPU of process control system (PLC) receives and stores the user program inputted from programmable device and data；Scene is received with scan mode The state or data of input unit, and be stored in image register or data register；Diagnose power supply and the work of PLC internal circuits Syntax error in state and programming process；After PLC enters operating status, PLC reads user program one by one from memory, The task as defined in instruction generates corresponding control signal, goes to open and close related control gate circuit, complete specified in user program The tasks such as logic or arithmetical operation realize the functions such as output control or data communication；Preferred 4, a kind of electric logic dress The system program memory of programmable control system (PLC) put is to storage system working procedure (monitoring programme), modularization Application function subprogram etc.；The system program memory of programmable control system (PLC) is storing the work(such as various systematic parameters Energy；Preferred 5, a kind of user memory of the programmable control system (PLC) of electric logic device；User memory is used To store user program；Preferred 6, a kind of input/output of the programmable control system (PLC) of electric logic device (I/O) module is the connecting component between CPU and scene I/O devices or other external equipments, and I/O modules are by external input signal Being transformed into CPU received signal or can be transformed into the control signals of needs by the output signal of CPU and remove drive control object, really Insurance system is run；Preferred 7, a kind of programmable device of the programmable control system (PLC) of electric logic device is used for user The internal state and parameter of PLC by keyboard are called and are shown in establishment, logic, debugging detection and the monitoring of program；Pass through communication Port is contacted with CPU, completes human-computer dialogue connection；Preferred 8, a kind of programmable controller of electric logic device is deposited Reservoir performs the user instruction of the specific functions such as logical operation, sequential control, timing, calculating and arithmetical operation for storing, and It is output and input by digital or analog, controls agricultural equipment or agricultural equipment work；Preferred 9, a kind of electricity Gas logic device receives the switch command that automatic control device is sent out, and completes agricultural equipment main shaft choosing speed, start and stop and direction control Function processed changes instrumental function, hydraulic pressure, air-cooled, pneumatic, lubricating system control and other agricultural equipment miscellaneous functions；Preferred 10, A kind of electric logic device software (PLC application programs) is for completing the control of automated agricultural machine equipment ancillary equipment；It It is in automated agricultural machine equipment running process, according to each of automatic control system inner mark and automated agricultural machine equipment Switch, detecting element, the state for running component are controlled, according to the control logic of program setting to such as lubricating, hydraulic pressure, changing tool The operation of equipment mechanism, cooling etc. is controlled；Preferred 10, a kind of electric logic device be automatic control system and Equipment between the electrical equipment of agricultural equipment, automatic control device is by electric logic device and measuring system and measures biography Being attached between sensor；Connection circuit transmission be automatic control system with position detection and data detection device it Between control information；Preferred 11, a kind of programmable controller (PLC) of electric logic device carries out agricultural equipment circuit Control；Automatic control system controls the ancillary equipment of agricultural equipment by programmable controller (PLC)；Programmable control Device (PLC) processed realizes the control to the ancillary equipment of agricultural equipment to the control of agricultural equipment peripheral circuit；Preferred 12, institute The programmable controller (PLC) for stating a kind of electric logic device receives the control signal and external feedback of automatic control system Signal exports result by logical operation, processing in the form of a signal；Processed output signal is from programmable controller (PLC) output module output, a part of signal is by intermediate relay control contactor and then agricultural equipment is controlled respectively to perform Mechanism performs action, so as to fulfill the control to agricultural equipment auxiliary body；Processed output signal is from programmable controller (PLC) output module output, a part of signal are directly used in control agricultural equipment outside plant, such as；Directly use low-tension supply The equipment of driving；Preferred 13, a kind of the every of the programmable controller (PLC) of electric logic device controls signal all the way Each external equipment (using PLC controls) of agricultural equipment is controlled, each agricultural equipment external equipment (is controlled using PLC ) all corresponding in programmable controller (PLC) neutralization programmable controller (PLC) output address；Preferred 14, described one kind Control of the programmable controller (PLC) of electric logic device to agricultural equipment peripheral equipment is set by output signal control Standby, facility action and receive external feedback signal, realized with monitoring the state of these installations and facilities；PLC technology For device (PLC) in agricultural equipment circuit, external signal and the processing of programmable controller (PLC) internal signal are corresponding；Each The address of programmable controller (PLC) and agricultural equipment peripheral circuit are corresponding per signal all the way；Programmable controller (PLC) with Signal input circuit is the stitch of a socket either some input interface, corresponding some member with agricultural equipment circuit Part, switch, knob, while including the corresponding input address internal with programmable controller (PLC)；Preferred 15, described one kind The programmable controller (PLC) of electric logic device controls executive component each outside agricultural equipment auxiliary device or facility 's；Each output signal of programmable controller (PLC) corresponds to an output address；Programmable controller (PLC) is each A output address corresponds to the stitch of a socket or plug；Programmable controller (PLC) each stitch corresponds to agricultural machinery and sets The single line (being indicated with wire size) of standby auxiliary device peripheral circuit；Each wire size of programmable controller (PLC) correspond to (or Person passes through the intermediate links such as relay, contactor some intermediary elements and corresponds to) agricultural equipment auxiliary device equipment, an element； Preferred 16, a kind of programmable controller (PLC) of electric logic device is the device of a kind of " sequential control ", i.e., certainly In dynamicization agricultural equipment operational process, with automatic control device inside and each travel switch of agricultural equipment, sensor, button, The on-off model state of relay etc. is condition, and is commutated according to prespecified logical order to the start-stop of such as main shaft, The replacement of tool, hydraulic pressure, cooling, the operation of lubricating system etc. is controlled；Preferred 17, a kind of electric logic device Programmable controller (PLC) is using typical computer configuation, mainly including CPU, RAM, ROM and input, output interface Circuit etc., it is internal using bus structures, carry out the transmission of data and instruction；Preferred 18, a kind of electric logic device Programmable controller (PLC) as a system, the system is by input variable --- PLC ---, and output variable forms, external Various switching signals, analog signal, sensor detection various signals as the input variable of PLC, external various letters It number is input in internal register through PLC External input terminals, after the operation of PLC internal logics or other various operations, processing Leading-out terminal is sent to, they are the output variables of PLC；Various controls are carried out to peripheral equipment by output variable；PLC is as one Intermediate processor or converter, output variable is transformed to by input variable；Preferred 19, a kind of electric logic device Programmable controller (PLC) includes：Importation, control section, output par, c；Preferred 20, a kind of electric logic dress The importation of programmable controller (PLC) put：Such as button switch, limit switch are directly connected with PLC input terminals It connects, to generate input control signal, manual command of these signals on operation console；Preferred 21, it is described a kind of electrical The control section of the programmable controller (PLC) of logic device：Performing repeatedly will according to the practical control of automated agricultural machine equipment Worked out user program is sought, and generates various output control signals；Preferred 22, a kind of electric logic device is compiled The output par, c of range controller (PLC)：Such as contactor, solenoid valve, they are directly connected with PLC leading-out terminals, to control The action of automated agricultural machine equipment processed；Preferred 23, a kind of input of the programmable controller (PLC) of electric logic device Processing：PLC performs user program in a manner of multiple scanning, first by geocoding order by included input before program is performed The on off operating mode (input signal) of terminal is read in input mapping register, then starts to perform user program, in implementation procedure In, even if input signal changes, the content for inputting mapping register is also constant, until the input of next scan period The reason stage just re-reads input state；Preferred 24, a kind of programmable controller (PLC) program of electric logic device Control：Stage, PLC sequential scan user programs are performed in program；The required information of program is often performed all to reflect from input As reading in register and other internal registers and participating in calculating, then implementing result write-in is included to close output image deposit In device；Preferred 25, a kind of output processing of the programmable controller (PLC) of electric logic device：When all instructions is held After row, the state exported in mapping register is completely transferred in output latch register, forms the reality output of PLC And it is sent out including leading-out terminal；Preferred 26, a kind of programmable controller (PLC) form of electric logic device includes two Kind：A kind of built in type PLC；A kind of self PLC；Preferred 27, a kind of programmable controller of electric logic device (PLC) substantially it is external circuit coupling method with the connecting mode of automated agricultural machine equipment, passes through agricultural equipment automation control I/O mouthfuls of system sends out control instruction, makes programmable controller input terminal noncontacting switch break-make, completes programmable controller to agriculture The logic control of machine equipment forceful electric power；The main motor of the controlled device drive main shaft rotation of automated agricultural machine equipment, switching value, servo Motor etc.；Preferred 28, programmable controller (PLC) input/output terminal and automated agricultural machine of a kind of electric logic device Device panel signal couples；Preferred 29, a kind of panel of electric logic device is connect with system using optical fiber, automation Include button, rotary switch, band switch and indicator light etc., button, rotary switch and wave on agricultural equipment control operation panel Duan Kaiguan is directly connected with the input terminal binding post of programmable controller, indicator light wiring directly with PLC output end binding post phases Even, indicator light is bright secretly depending on the on off state of corresponding PLC input terminals and the ladder diagram journey being solidificated in PLC ROM cards Sequence；Preferred 30, programmable controller (PLC) output terminal and the automated agricultural machine equipment forceful electric power of a kind of electric logic device Signal couples；Preferred 31, a kind of programmable controller (PLC) of electric logic device is in automated agricultural machine equipment Main function is control strong power part, such as：Master control power supply, servo power supply, tool rack motor positive and inverse, main shaft fan, lubrication electricity Machine etc.；Since the electric current for flowing through forceful electric power circuit is very big, all connect including protection relay in PLC output terminals；In each exchange Parallel connection resistance-capacitance circuit in coil both sides is to absorb the surge current due to being generated during coil break-make；In order to improve the reliable of motor operation Property, in contactor coil circuit plus include interlock protection contact；The operation programed logic of each motor is solidificated in card In, it is controlled by automated agricultural machine equipment operation panel-switch and agricultural equipment automatic control system software；Preferred 32, institute State coupling for I/O mouthfuls of programmable controller (PLC) input terminal of electric logic device a kind of and automatic control device；Preferably 33, a kind of break-make of programmable controller (PLC) output terminal of electric logic device be by its input terminal on off operating mode and What trapezoid figure program determined, coupling for automatic control device and programmable controller is that directly control PLC by Sofe Switch defeated Enter the break-make at end, to determine the state of PLC output terminals.I/O mouthfuls of automatic control device couples with PLC input terminals, from automatic Change the information flow direction analysis of I/O mouthfuls of control device, two kinds of situations can be divided into：First, automatic control device is exported from I/O mouthfuls Instruction, control PLC complete corresponding action：Another kind is the on off state for detecting PLC input ports, the I/ of automatic control device O mouthfuls are input signals, and automatic control device makes corresponding control according to the property of input signal；Preferred 34, described one The programmable controller (PLC) of kind electric logic device realizes the processing of M functions；M instructions mainly include M03, and (main shaft is clockwise Rotation), M04 (spindle axis counterclockwise rotation), M05 (main shaft stopping), M06 (tool is changed in preparation) etc.；A portion is by automatic The hardware and software of networked control systems in itself is realized, further includes a part and automatic control device want to be combined reality with PLC It is existing；Preferred 35, a kind of programmable controller (PLC) of electric logic device realizes the processing of T functions；PLC realizes work Has the function of selection, when encountering comprising some tool coding when changing facility instruction, corresponding automatic control device I/O mouthfuls become Into high level, automatic control system by T code commands into after row decoding, gopher number and then control replace tool device into Row changes tool；Preferred 36, a kind of programmable controller (PLC) of electric logic device realizes the processing of S functions；S work( It can complete to control the rotating speed of main shaft, using code method and directly specified method represents the speed of main shaft；Preferred 37, described one kind The programmable controller (PLC) of electric logic device is to operation signal processing；Programmable controller (PLC) is received on operation panel Signal and the signal that transmits of automatic control device with the operation of auto-control control system；Preferred 38, described one kind Control of the programmable controller (PLC) of electric logic device to main shaft；Control start and stop, stopping and the rotating of main shaft；It is preferred that 39, a kind of control of the programmable controller (PLC) of electric logic device to reference axis；The servo of reference axis is controlled to drive Dynamic and limit switch etc.；Preferred 40, a kind of control of programmable controller (PLC) the exchange tool of electric logic device System；Realize the control to program change tool；Preferred 41, a kind of programmable controller (PLC) of electric logic device Control to cooling down, lubricating；Preferred 42, a kind of programmable controller (PLC) of electric logic device is to automating agriculture The on-off model of machine equipment is controlled；Preferred 43, a kind of programmable controller (PLC) of electric logic device is right The various switching values of agricultural equipment pass through I/O mouthfuls of progress information exchanges；Due to I/O mouthfuls can input signal and output signal by patrolling It collects decoding circuit and is converted into the output signal of multichannel, it can be achieved that the control of spindle motor, hydraulic pump and main shaft speed change etc.；Input The signal that the acceptable lead limit switch pause of mouth, main shaft lock-out pulse, selection tool are answered；So as to fulfill the inspection of various states It surveys, the control of the final various switching values for realizing automated agricultural machine equipment；Preferred 44, a kind of step of electric logic device It is operated step by step under the action of a kind of additional electric impulse signal of stepper motor, electric impulse signal is converted into corresponding angular displacement Electromechanical compo；Its angular displacement is strictly directly proportional to the number of pulse, synchronous with input in time, controls the number of input pulse Amount, frequency and machine winding power-up sequence, obtain required corner, speed and the direction of rotation；When no pulse inputs, in winding Under the excitation of power supply, air-gap field makes rotor keep original location status；Using this principle, when realization agricultural equipment works Feeding longitudinally, laterally, obtain higher precision；Preferred 45, a kind of automation control system of electric logic device System carries out start and stop, direction controlling by PLC to axis system.Preferred 45, a kind of electric logic device includes：It is programmable Control system (PLC) and relay-contactor control system；

Preferably, a kind of structure of agricultural equipment automatic control system software product is characterized in that including：It is excellent Choosing, the front and rear bench-type software configuration；The front and back software is divided into foreground program and background program；The foreground program is Interrupt service routine；For real-time input and output；Foreground program is divided into random interrupt routine and parameter timer interrupt routine；Before Platform program is responsible for the output quantities such as the feeding, the miscellaneous function that provide backstage and is exported；It is random to interrupt outside caused by feedback quantity It interrupts in portion；Refer specifically to feeding displacement sensor, tool rack, manipulator information etc. in place；Cause interruption in state change；It is described Background program is for system administration, the pretreatment of agricultural equipment working procedure, display etc.；Background program mainly completes the first of hardware Beginningization, system operation management；Including editor, operation, revolution, manually, the Sport Administrations such as MDI, and constantly set foreground program, Interrupt parameters, the time interval interrupted twice etc..Preferably, the interrupt-type software configuration；The interrupt-type feeds back output Input, editor, manual, instruction pre-handle etc. are all used as interrupt routine, their interrupt priority level is advance by practical requirement It determines；Main program is responsible for the initialization of system hardware and basic interrupt management.Preferably, it is described embedded；PC insertions is automatic Change in control device or automatic control device is embedded in PC；It is responsible for the management and dispatching of each task of system using CPU, transports Dynamic control chip is completed the agricultural equipment required compound movement that works automatically as CPU and is controlled, and Embedded system is arrived from above Include three parts down to form：Hardware layer, operating system layer, motion control software layer.Bottom is CPU processor, and middle layer is embedding The operating system layer of embedded system, the operating system developed using source code, according to wanting for agricultural equipment automatic control system It asks and kernel is cut accordingly, the real-time of system is provided；Top layer is kinetic control system matching software；It is main to include compiling Write various control functions；The control library function of such as motion control chip.Preferably, it is described open；The agricultural equipment is certainly Dynamic networked control systems are a kind of open automatic control systems；The system can transport in the kinds of platform of different manufacturers Row, can mutually operate with the application program of other systems；The system can provide the user with consistency man-machine interaction mode：Tool Including operability, portability, scalability, interchangeable.Preferably, the Soft type agricultural equipment automation control system System is that motion controller is realized in a software form, becomes full software type agricultural equipment automatic control system system.Due to soft The flexibility and hardware platform independence that part is realized will include being conducive to the deeper opening of system realization.The agriculture of full software type As the systems such as the form of expression for being mainly characterized by system of machine equipment automatic control system and currently used CAD/CAM, It is the application software (device driver software) on a kind of mainstream operation system (real-time extension) completely；Packet is realized with a PC machine Include the included function including the functions such as decoding, interpolation, position control；Tool includes opening, transplantability, autgmentability, networking；

Preferably, a kind of agricultural equipment automatic control system is a kind of open automatic control system；This is System can be run in the kinds of platform of different manufacturers, can mutually be operated with the application program of other systems；The system energy Enough provide the user with consistency man-machine interaction mode；Preferably, include can for a kind of agricultural equipment automatic control system tool Interoperability；System tool includes different function module can be enable to run in system platform with the application programming interfaces of standard, And obtain the mutual operation ability of equality, co-ordination；Preferably, a kind of agricultural equipment automatic control system tool includes It is portable；System function software is unrelated with equipment, i.e., makes composition using unified data format, interaction models, control mechanism The function module of system may originate from different developers, by consistent equipment interface, each function module be enable to run on difference Supplier provide hardware platform on；Preferably, a kind of agricultural equipment automatic control system tool includes scalability, Function, the scale of the system can flexibly be set, and facilitate modification, can increase hardware or software sharing system with better function, Its function can be cut to adapt to low-end applications；Preferably, include can be mutual for a kind of agricultural equipment automatic control system tool Transsexual, the selection of each hardware module of composition system, functional software is not controlled by single-vendor, can be according to its function, reliable Property and performance requirement be replaced mutually, without influence system entirety association's coordinated operation it is preferred, a kind of agricultural equipment oneself Dynamic networked control systems are a kind of open agricultural equipment automatic control systems of PC insertions automatic control device structure, incite somebody to action specially It is combined with the automatic control device and PC machine of structure, PC machine undertakes non real-time control section, and real-time control section is by automating Control device performs；A kind of agricultural equipment automatic control system tool includes graphical display, operation simulation, establishment and diagnosis work( Energy；Preferably, a kind of agricultural equipment automatic control system is a kind of one kind of automatic control device insertion PC structures Open agricultural equipment automatic control system；The hardware components of the system by open architecture motion control card and PC Mechanism into；Motion control card selects high-speed dsp to include very strong motion control and PLC control abilities as CPU tools；The control of system Function processed is mainly realized by motion control card, and when agricultural equipment hardware changes, the control that need to only change corresponding portion is soft Part；The system utilizes the powerful Windows graphic user interfaces of PC machine, multitasking ability, with reference to fortune based on PC machine Dynamic control card and motion control software form the agricultural equipment automatic control system of high-performance, high flexibility and opening, from And user is allow to develop the application program of itself；Preferably, a kind of agricultural equipment automatic control system is one Kind numerical control agricultural equipment system.

In order to which those skilled in the art is made to more fully understand the present invention program, detailed description still further below, But it is not limited to the present invention.

The agricultural equipment automatic control system is by agricultural equipment automatic control system software product, agricultural equipment Automatic control system hardware product forms；The agricultural equipment automatic control system hardware product composition is by computer hardware And the special purpose computer and programmable controller and drive system of corresponding input/output interface composition are formed；The calculating Machine hardware handles agricultural equipment track moves digital control, and the programmable controller then handles the logic control of switching value； The drive system is used to that agricultural equipment to be driven to move.

A kind of agricultural equipment automatic control system software product can be selected based on operation system open Windows It unites as development platform；Using technologies such as object-orienteds, developed and set using the principle of modularization, stratification, dynamic configuration Meter；A kind of open control system of agricultural equipment automatic control system software product is using the architecture being layered； Layering is communicated between layers by the interface of standard so that each layer realizes isolation, is realized portable and available for the Software of the third party.Longitudinal first layer of the agricultural equipment automatic control system software product is boundary layer, it completes system Monitoring management：Input, I O process, display, diagnosis and monitoring；This boundary layer is made of interface and each call back function；Call back function Function be complete interface on control event-driven operation, the call operation of call back function, by operating system management；The agriculture Longitudinal second layer of machine equipment automatic control system software product is functional unit layer, including decoding class, tool compensation class, is inserted Mend dynamic link libraries, motion controller class.Decoding layer will instruct the inside number explained as agricultural equipment automatic control system According to form, tool compensation layer carries out tool compensation；Interpolation dynamic link libraries completes data interpolation, generates agricultural equipment work number According to speed processing, miscellaneous function, equipment control；Motion controller class completes the control of position servo；Decode class, tool compensation Class is made of respectively multiple software chips；The call operation of this functional unit layer is placed in call back function；The agricultural equipment is certainly Longitudinal third layer of dynamic networked control systems software product is supporting layer, and the equipment including motion controller card, motion controller is driven Dynamic program, IO cards, operating system, PC machine；Motion controller card mainly completes the task of position servo.The equipment of motion controller Driver completes the direct operation to motion control card and IO cards；A kind of agricultural equipment automatic control system software production In product, using the structure type of front and rear bench-type, foreground program, that is, interrupt routine, completing whole real-time functions, (interpolation dynamic connects Connect library, motion controller class, device driver), the major function of background program is preparatory function and scheduling pipe before interpolation Reason (including interface, decoding class, tool compensation class)；Be the input of agricultural equipment working procedure, decoding, tool compensation, display and on State the management and running function between task；Background program structure is a multithreaded architecture, completes multitasking；It was running Cheng Zhong, foreground program (interrupt service routine) are constantly inserted into, common to complete agricultural equipment task；And the task of position servo Mainly completed by motion controller；Agricultural equipment working procedure by computer into row decoding, tool compensation, speed processing after, To the interpolation director data of tool focus；Computer deposits these interpolation director datas and other director datas with set form It is placed in a buffering area；When interrupting generation every time, computer is handled accordingly according to these director datas；If there is slotting Instruction is mended, then real to calculate interpolation data, and be sent into buffering area, motion controller controls the electricity of corresponding axis according to these data Motor-driven work；After the frame director data in computer is run through, new interpolation director data is calculated automatically in interpolation gap, Insert buffering area.

The multi-task parallel processing of the agricultural equipment automatic control system software product；The agricultural equipment automation The control device process control unit independent as one, during automated production, the agricultural equipment automation Control System Software product must complete management and control function, and the administrative section of system including input, I O process, shows, examines It is disconnected；The control section of system, including decoding, cutter compensation, speed processing, interpolation, position control.It is described to be filled in automation control In the actual moving process put, several tasks in multiple tasks will be carried out at the same time.

The real-time processing of the agricultural equipment automatic control system；Real-time agricultural equipment automatic control system software production Product are in the practical work process of automated agricultural machine equipment, it is necessary to which tool includes real-time；In order to make agricultural equipment automation control The ability that system software tool includes parallel processing and handles in real time, using the multithreading model of Windows and the control of interrupt mechanism System strategy；In order to make the parallel processing multitask under a windows environment of agricultural equipment automatic control system software, use is multi-thread Journey realizes multitask control, and thread is the main feature of 32-bit operating system, it supports the multi-task mechanism seized, and is operation The basic scheduling unit of system.Each management and control module can be placed in independent thread, it is automatic so as to fulfill agricultural equipment The parallel processing operations of networked control systems software product.It is described in agricultural machinery and standby automatic control system software product, establish Main control thread (monitoring and interface thread), display/panel operation thread and automatic worker thread.Display panel operates thread Preset time piece be 50ms；Automated agricultural machine equipment worker thread is that main thread starts and eliminates, by establishing these three Thread is, it can be achieved that the coordinated operation of whole system；Main control thread mainly completes monitoring and interface management, function control, system Management etc., and be responsible for starting in real time and eliminating automatic worker thread；When system exits, display panel operation thread will be eliminated；It is main Control thread is the message queueing by Windows, to realize its operating process.

The interrupt mechanism of the Windows of the agricultural equipment automatic control system；The Windows is a kind of non-exclusive The multitask system of formula, application program line up to receive input by application program, and then message loop is from application program is lined up Input message is obtained, and sends it to corresponding window；In this operating mode, realize that control is difficult in real time, however, from Another angle sees that keyboard, mouse and the timer input of user are all hardware interrupts, and the equipment that Windows is provided is driven Dynamic program, actually interrupt service routine, since requirement of the real work for real-time is high, therefore, it is necessary to using interrupting Mode realize real-time task.It can occur at any time due to interrupting, and be not limited to the application journey using equipment During sort run, so interrupt service routine must only include a type in fixed code section, in EMS memory configurations Code, just can guarantee any moment can be utilized for it is such interrupt service.Such code is exactly dynamic link libraries (DLL) the code in fixed code section.Therefore, it is necessary to it is interrupted using DLL to realize.It is realized in systems using DLL hard Part interrupts, the reliable automatic worker thread of agricultural equipment mainly complete to open the file of automatic control device, syntax check, Decoding, tool compensation, interpolation generate agricultural equipment operational data.In these functions, interpolation must be completed in real time, thus adopt It is realized with the service of interruption.Due to dynamic link libraries can load neatly by application program as needed, draw off, occupy be System resource will be reduced accordingly, so the form for the compiling of interpolation interrupt service routine being connected into dynamic link library uses.

The development technique of the object-oriented of the agricultural equipment automatic control system software product；It is described due to towards right The software development technique of elephant combines function modeling and data abstraction, it preferably realizes the scalability of software, polymorphism, and Software is made easily to change, agricultural equipment automatic control system software product is modeled using object-oriented method, point 3 layers It is secondary to be described and realize：System, control unit and basic class make agricultural equipment automatic control system software product can Assembling, easily extension.The basic class is the minimum of agricultural equipment automatic control system software product function composition open system Unit, basic class form the class system of object-oriented agricultural equipment automatic control system software product, and tool includes standardization and connects The basic class of mouth, is a kind of software chip.Control unit is made of a series of relevant basic class of functions, completes certain work( The software entity of energy, control unit can be nested.Agricultural equipment automatic control system software product is single by a series of controls The system software product of the certain type of agricultural equipment automatic control system of member composition.Agricultural equipment automatic control system The class of Software Development, including motion controller class, decoding class, tool compensation class.They have distinguished as functional unit Function is mended into position servo function, decoding function, knife.Decoding class, tool compensation class are made of the succession of multiple software chips.

The multiple buffer technology of the agricultural equipment automatic control system；The agricultural equipment automatic control system is soft The motion controller class of part product, decoding class, tool complementary class, dynamic link library are all relatively independent functional units, Ta Menxiang Mutually include a large amount of data exchange, therefore data exchange is realized using multiple buffer.To coordinate the fortune between each each task of thread Row, makes each module relatively independent, multiple data buffer zones is established in agricultural equipment automatic control system software product software, Concrete implementation method is：1 is multiple buffer storage allocation, establishes the reading and writing pointer for being directed toward current buffer, forms a ring Shape multiple buffer；2 be one flag bit of every piece of memory setting, as the basis for estimation operated to each buffering area；3 often read one A buffering area read to indicate to the setting buffers, and current read pointer moves forward a buffering area；4 often write a buffering area, The setting buffers are write with mark, current write pointer moves forward a buffering area；5 for the unclosed buffering of current operation Area sets just in operation flag, forbids other operations.In this way, agricultural equipment automatic control system software is produced The operation that must be completed in single interpolation cycle in product, " homogenizing " are completed in multiple interpolation cycles, including effect utilize CPU The calculating time, improve the working efficiency of system.

Realize technology in the interface of the agricultural equipment automatic control system；The interface tool of Survey Software includes Windows General control function and the controls for simulating some material objects, such as ammeter is shown, knob.Therefore, using Labwindows/CVI works Has design system interface.It is very convenient with a kind of C language design interface when using Labwindows/CVI.The boundary of this tool design Face includes header file, interface file；In header file, the call back function of interface control is provided.Application program can be in call back function It is middle to realize required function, in such a system, display/call back function of the panel operation thread as the timer control at interface The call back function of timer control is called in the time that Windows is set according to timer, timing.

The agricultural equipment automatic control system software product uses the multithreading model of Windows and interrupt mechanism phase With reference to control strategy and stratification architecture, using Object-oriented Technique, multiple buffer technology, interface realize technology, Agricultural equipment automatic control system software product, agricultural equipment automation control are successfully produced under a windows environment System software product tool includes multi-task control requirement, preferably realizes appointing in real time for agricultural equipment automatic control system The expandability of software, polymorphism, reconstitution is preferably realized in business control requirement, and software is easy to change；

It is described that the agricultural equipment automatic control system software product produced is mounted on agricultural equipment automation control The agricultural equipment automatic control device of system hardware product；During the agricultural equipment work, the agricultural equipment automation control Device processed is to carry out interpolation operation by arithmetic unit, and then feed shaft is closed or (opening) ring controls, realizes agricultural equipment certainly Act the various functions of industry.The agricultural equipment automatic control system implements the feed system control to automated agricultural machine equipment System；The control of the feed system of automated agricultural machine equipment is realized mostly by controlling stepper motor.Stepper motor is one Kind operates step by step under the action of powering up pulse signal outside, and electric impulse signal is converted into the electromechanics member of corresponding angular displacement Part.The number of its angular displacement and input pulse is strictly directly proportional, synchronous with input in time, controls the number of input pulse Amount, frequency and machine winding power-up sequence, can obtain required corner, speed and rotation direction；No pulse input when, around Under the excitation of group power supply, air-gap field makes rotor keep original location status.Using this principle, agricultural equipment can be realized The feeding of vertical, horizontal during operation, and degree of precision can be obtained.The agricultural equipment automatic control system is implemented to automating agriculture The digital output modul of machine equipment；The on-off model control of the automated agricultural machine equipment is completed by PLC.It is described from Each switching value of dynamicization agricultural equipment can pass through I/O mouthfuls of progress information exchanges.Due to I/O mouthfuls can input signal and output signal, Its output signal is converted into the output signal of multichannel, it can be achieved that spindle motor, cooling pump and main shaft become by logic decoding circuit The control of speed etc.；The signals such as input port is subjected to lead limit switch pause, main shaft lock-out pulse, selection tool are answered.So as to real The detection of existing various states, the final each digital output modul for realizing agricultural equipment.The agricultural equipment automatic control system is real Apply the Spindle control to automated agricultural machine equipment；The agricultural equipment automatic control device carries out axis system by PLC Start-stop controls.

The hardware of the PLC of the agricultural equipment automatic control system：That is programmable controller abbreviation PC, usually may be used Programming sequence controller is known as PLC.It is for using microprocessor as core, automatic technology, computer technology, the communication technology are melted The novel control device being integrated.The then system software including agricultural equipment automatic control system and the agriculture of the software systems of PLC The application software of machine equipment operation.Tool includes the stronger and joining interface of the course of work and tool including more directly suitable For the programming language of job control requirement.

The course of work of the PLC of the agricultural equipment automatic control system：The agricultural equipment automatic control system PLC after the power is turned on, just under the monitoring of agricultural equipment automatic control system software product, in sequence again and again The various tasks of internal system are inquired, judged and performed, are the process of scan round in order on this process nature. Time needed for one scan round process of execution is known as the scan period, and representative value is 1~100ms.The agricultural equipment is certainly The PLC of dynamic networked control systems is to the scan round process of user program：The PLC's of agricultural equipment automatic control system is worked The operation mode of journey and CPU include closing；CPU includes two operation modes：STOP patterns and RUN patterns；Within the scan period, STOP patterns and RUN patterns main difference is that：User program is performed under RUN patterns, and user is not performed under STOP patterns Program；PLC, which carries out user program scan round, can be divided into three phases progress, i.e. input sample stage, program performs the stage With the output refreshing stage.

It is described in agricultural equipment automatic control system, position control realized by positioner；It is and other Most of action i.e. control such as main shaft start and stop, the commutation of auxiliary mechanical action；Change the fortune of tool control, cooling and lubricating system The functions such as row and alert detecting can then be realized by programmable controller (PLC).The automated agricultural machine apparatus control system PLC information transmit；The various functions of agricultural equipment electric control system are realized by PLC, need by it is various control and It detects signal and PLC is inputted, then result is output to various execution by the operation of PLC internal processes by button and detecting element Equipment completes control of the electric control system for agricultural equipment.It is filled so relating to PLC with agricultural equipment automation control It puts, the information exchange between agricultural equipment.Programmable controller and forceful electric power, the agricultural equipment of automated agricultural machine equipment are automated and are controlled Device I/O mouthfuls processed of connection can be summarized as following three parts：(1) the PLC input/output terminals and automated agricultural machine device panel Signal couples；(2) PLC output terminals couple with automated agricultural machine equipment forceful electric power signal；(3) PLC input terminals and agricultural equipment are automatic Change the connection of I/O mouthfuls of control device；

The break-make of the programmable controller output terminal is determined by its input terminal on off operating mode and trapezoid figure program；Institute It is to directly control the logical of PLC input terminals by Sofe Switch that agricultural equipment automatic control device, which is stated, with coupling for programmable controller It is disconnected, to determine the state of PLC output terminals.The information flow direction of I/O mouthfuls of the agricultural equipment automatic control device, can be divided into two Kind situation：First, agricultural equipment automatic control device, from I/O mouthfuls of output orders, control PLC completes corresponding action；It is another It is the on off state for detecting PLC input ports, the I/O mouths of agricultural equipment automatic control device are input signals, and agricultural equipment is certainly Dynamicization control device makes corresponding control according to the property of input signal.

Processing of the PLC to automated agricultural machine equipment miscellaneous function；The coordinate system of the automated agricultural machine equipment prepares Function, miscellaneous function, instrumental function and program format etc. include a kind of standard, i.e., including 4 kinds of functions：One kind is to prepare work( Can, i.e., so-called G code；Second is miscellaneous function, i.e., so-called M codes；The third is instrumental function, i.e., so-called T generations Code；4th kind is the i.e. so-called S codes of rotating speed functions.Wherein, G functions mainly include closing with linkage reference axis driving, are to pass through The I/O interfaces of CPU auto-control agricultural equipment control devices are realized；M functions mainly control agricultural equipment strong power part, including The functions such as main shaft commutation, coolant switch；The selection and compensation of T functions and tool include closing.(1) processing of the M functions：Institute It states M instructions and mainly includes M02 (program stopped), M03 (main shaft rotates clockwise), M04 (spindle axis counterclockwise rotation), M05 (main shafts Stop), M06 (prepare tool changing) etc..A portion is hardware product and the software production by agricultural equipment automatic control system Product realize that further include a part need agricultural equipment automatic control device to be combined to realize with PLC.(2) the T functions Processing；The mainly tool selection realized on PLC.When changing facility instruction of some tool coding is included when encountering, Corresponding I/O mouthfuls of automated agricultural machine plant control unit becomes high level, and automated agricultural machine plant control unit is by T code commands PLC is given, PLC is instructed by decoding into after row decoding, gopher number, and then control changes tool device and carries out changing tool.(3) The processing of the S functions；The S functions mainly complete the control to the speed of mainshaft, common including code method and directly specified Method.Code method is S followed by binary digit, these numbers do not represent sizes of the speed of mainshaft directly, but agricultural equipment main shaft The serial number of rotating speed ordered series of numbers；The size that it is directly exactly the speed of mainshaft behind S that directly specified method, which is, such as S1500 represent the speed of mainshaft It is 1500r/min.

The agricultural equipment automatic control system can be divided into two parts：Control servomotor and spindle motor action Components of system as directed automatic control device and control auxiliary electrical part PLC.The PLC master of the agricultural equipment automated system Complete the sequential control of automated agricultural machine equipment, including to agricultural equipment automatic control device, automated agricultural machine equipment and The signal that operation panel transmits is handled, and implements the monitoring of emergency stop and excess of stroke signal, and is completed to main shaft, tool rack, cold But, the control of the functions such as lubrication.1. the operation signal processing；The agricultural equipment automatic control system receives operation panel On the signal that transmits of signal and agricultural equipment automatic control device part to control agricultural equipment automatic control system Operation.2. Spindle control；The startup of the agricultural equipment automatic control system auto-control agricultural equipment main shaft, stop and Rotating.3. reference axis controls；The servo of the agricultural equipment automatic control system auto-control agricultural equipment reference axis Driving and limit switch etc..Tool is changed to the program of agricultural equipment automatic control system software product 4. changing tool control and realizing Control.5. cooling control is realized the startup of the program control cooling of agricultural equipment automatic control system software product, is stopped. 6. the control of timed lubrication is realized in lubrication control.

The agricultural equipment automatic control system realizes the function of agricultural equipment electric control system with PLC；Institute The various functions that automated agricultural machine equipment electrical control system is realized by PLC are stated, are needed various controls and detection signal PLC is inputted, then result is output to various execution equipment by the operation of PLC internal processes by button and detecting element, it is complete The electric control system of control into to(for) agricultural equipment.The input signal of each function, can pass through pressing on control panel Button is operated, and output can then be completed by executing agencies such as contactor, solenoid valves.The agricultural equipment automation control system The programming language of system PLC includes sequential function chart；(2) ladder diagram；(3) Function Block Diagram；(4) instruction catalogue；(5) structure text.Institute The programming language for stating PLC includes two kinds of graphic languages --- ladder diagram (LD) and Function Block Diagram (FBD), two kinds of word languages --- Instruction catalogue (IL) and structure text (ST), sequential function chart (SFC) are a kind of block structure control program flow diagrams.Ladder diagram is figure Shape programming language, ladder diagram use the graphical symbol similar to relay contact, coil.Ladder diagram is commonly referred to as program, trapezoidal The design of figure is known as programming.Ladder diagram is also well suited to switching value logic control.It is described in PLC user program programmings, Using modularized design, i.e., module division is carried out according to control function to system, the program of different function is placed on to different moulds It is designed in block, successively to the module design ladder diagram of each control function.Make the program of each section can be individually designed and repair Change.Program structure is clear, convenient for debugging, can flexibly increase other control functions as needed.The agricultural equipment automation PLC program is divided into 7 modules during the PLC control program of control system, i.e., common program module, main shaft module, Reference axis control module, lubrication control module, automatic tool changer module, alarm module and cooling control module.The input and output Distribution establishment I/O allocation tables.I/O allocation tables are one of the basic datas for designing trapezoid figure program, and when PLC control system must be first The work first completed can bring many convenience to PLC system Software for Design and system debug.It is similar when working out I/O allocation tables The input point or output point of type concentrate in together as possible, continuous dispensing.

The servo-drive system of the agricultural equipment automatic control system receives the instruction from agricultural machinery automatic control device Signal drives each spindle motor of agricultural equipment and mechanical transmission mechanism movement after converting, adjusting and amplify, realizes automation Agricultural equipment works needed for completing；The servo-drive system of the agricultural equipment automatic control system includes position control unit, speed Spend control unit, driving element, detection and feedback unit, mechanical operating parts.Preferably, a kind of agricultural equipment automation The driving device of control system hardware product is made of driving circuit and driving motor, and with the mechanical drive department on agricultural equipment Part forms the main transmission and feeding transmission system of automated agricultural machine equipment；A kind of agricultural equipment automatic control system The main shaft driving device of the driving device of hardware product receives steering and rotary speed instruction from PLC, by power amplification rear-guard Dynamic spindle motor rotation；A kind of feed drive unit of the driving device of the agricultural equipment automatic control system hardware product Receive the displacement commands of automatic control device in each interpolation cycle, feed motor is driven to turn after power amplification It is dynamic, while complete speed control and feedback control function.Preferably, a kind of agricultural equipment automatic control system hardware production The speed that the feed servo-system receiving of the driving device of product provides each coordinates of motion axis from automatic control system respectively Degree instruction, through speed and the driving servo motor rotation of electric current (torque) adjuster output drive signal；Realize that automated agricultural machine is set Standby each reference axis moves；Receive feedback speed signal simultaneously and implement velocity close-loop control；Automated agricultural machine equipment feed servo system System is communicated by PLC with automatic control system, is notified to current working condition and is received the control of automatic control system；It is described A kind of tachometric survey of the driving device of agricultural equipment automatic control system hardware product using the velometer in motor come It completes；Motor actual speed is matched into voltage value and sends servo drive system back to as feedback speed signal by velometer, with finger Velocity voltage value is enabled to compare, so as to fulfill the accurate control of speed；A kind of agricultural equipment automatic control system hardware The position detector of the driving device of product carries out the physical location of each reference axis of automated agricultural machine equipment in operation direct Or it indirectly measures；Measured value is fed back into automatic control system and compared with command bits phase shift until reference axis reaches instruction Position position, so as to fulfill the accurate control to position；Velocity sensor, the automation are set on the motor of the driving device Displacement sensor on each device of agricultural equipment is set, is set in the Speed Drive system and includes loading device；It is described It is connected with each other between speed drive and motor by power cord, is set on the power cord and include current sensor；It is described Automatic control system is connect with Speed Drive system signal；The current sensor and velocity sensor respectively with load Device signal connects；The load device is connect with agricultural equipment automatic control system signal；Institute's displacement sensors and automation Control system signal connects；The actual bit confidence of institute's displacement sensors sliding block in each device of dynamicization agricultural equipment Number；The current sensor obtains current signal, and the velocity sensor obtains position and speed signal；The current sensor Current signal and location/velocity signal are input in load device respectively with velocity sensor and carried out in corresponding calculator, is counted The actual loading torque (actual speed) of sliding block in each device of automated agricultural machine equipment is obtained after calculation；Actual position signal and Actual speed signal feed back to respectively automatic control system carry out position, speed complex controll；Pass through automation control system System obtains final control signal, and final control signal is come in and gone out to speed drive, is exported by speed drive To servo motor, the operation of final control signal is realized by servo motor.

The above described is only a preferred embodiment of the present invention, not make limitation in any form to the present invention, though So the present invention is disclosed above with preferred embodiment, however is not limited to the present invention, any technology people for being familiar with this profession Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make change or are modified to With the equivalent embodiment of variation, as long as being without departing from technical solution of the present invention content, technical spirit according to the present invention, in this hair Within bright spirit and principle, any modification, equivalent replacement and improvement for being made to above example etc. still fall within the present invention Within the protection domain of technical solution.

Claims (8)

1. a kind of agricultural equipment automatic control system and product, it is characterised in that including：

(1) a kind of agricultural equipment automatic control system hardware product；

(2) a kind of agricultural equipment automatic control system software product.

2. a kind of agricultural equipment automatic control system and product according to claim 1, it is characterised in that including：

(1) a kind of agricultural equipment automatic control system hardware product is characterized in that including：

1. a kind of agricultural equipment automatic control device；

2. a kind of driving device；

3. a kind of electric logic control device；

(2) a kind of agricultural equipment automatic control system software product is characterized in that including：

1. a kind of management software product of agricultural equipment automatic control system；

2. a kind of control software product of agricultural equipment automatic control system.

3. a kind of agricultural equipment automatic control system and product according to claim 1, which is characterized in that including：

(1) a kind of agricultural equipment automatic control system and product be it is a kind of using digitlization (or digital or word, Or letter or/and symbol) information carries out agricultural equipment operation track and operation process system and the production of driving and control Product；

(2) a kind of agricultural equipment automatic control system and product are a kind of drivings with controlling agricultural equipment according to operating area The resemblance automatic order of (or operating area agriculture, woods crop) the system for the work operations needed for region that fulfil assignment and Product；

(3) a kind of agricultural equipment automatic control system and product are that one agricultural equipment of a kind of driving and control is automatically performed agriculture The various productions of industry or agriculture, the cultivation of woods crop receive the system and product of the various operations of process management；

(4) a kind of agricultural equipment automatic control system and product are that more agricultural equipments of a kind of driving and control are automatically performed agriculture The various productions of industry or agriculture, the cultivation of woods crop receive the system and product of the various operations of process management；

(5) a kind of agricultural equipment automatic control system and product are a kind of drivings with a variety of (one or more) agricultural machinery is controlled to set The standby system and product for being automatically performed the various productions of agricultural and one or more operations in management；

(6) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control System and product are according to the resemblance of operating area (or operating area agriculture, woods crop), are determined needed for operating area Operating type, using by letter, number and a set of basic symbol for providing, the language formed by certain morphology and syntax rule (or numerical control programming language or ATP language) is sayed for describing the geometric form of operating area (or operating area agriculture, woods crop) Correlation and agricultural equipment operation process, technological parameter between shape, geometric element are set by (or automatic) establishment agricultural machinery manually Good agricultural equipment work procedures sheet prepared in advance is inputed to agricultural equipment automation control dress by standby automatically working program list (or PC machine or computer or similar computer equipment) storage is put, when automated agricultural machine equipment works, by required working region The resemblance of (or operating area agriculture, woods crop) inputs to agricultural equipment automation control by (or automatic) manually and fills (or PC machine or computer or similar computer equipment) is put, by agricultural equipment automatic control device according to pre-stored agriculture Machine equipment work procedures sheet is special by the shape of required working region (or operating area agriculture, woods crop) into row decoding and processing Sign is converted into the receptible agricultural equipment working procedure of agricultural equipment automatic control device, agricultural equipment automatic control device The agricultural equipment working procedure of receiving is handled and operation, processing and the information after operation and instruction, part feeding are believed It ceases and is sent to servo drive system by certain signal transformation and voltage, power amplification, driving with agricultural machinery is controlled to set with instruction The motor movement of standby each feed motion device；It feeds the detector of motor and will detect and feed back to agricultural equipment certainly with the information of acquisition Dynamicization control device；Agricultural equipment automatic control device is compared according to feedback information and agricultural equipment working procedure information Compared with, operation and processing, send an instruction to drive system and be driven and precisely run with control motor；Another part instruction passes through Agricultural equipment automatic control device (or PC machine or computer or similar computer equipment) is sent to programmable controller (PLC), programmable controller (PLC) is sent to according to the user program of storage and the information progress logical operation of acquisition with processing Agricultural equipment spindle driver and auxiliary unit driver, the signal transformation and voltage, power amplification of driver, driving and control The motion motor of automated agricultural machine machine spindle and auxiliary device is precisely run, so as to fulfill agricultural equipment automatically without any confusion Ground works, so as to fulfill agricultural equipment automatically accurate operation；

(7) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control System and product are furnished with interface according to the control program stored in computer storage, execution part or whole numerical value functions The computer system of circuit and driving device is come real by using the digital command of number or word or symbol composition One or more existing agricultural equipment action control；A kind of agricultural equipment automatic control system controls agricultural equipment Mainly include mechanical quantities and the switching values such as position, angle, speed.

(8) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control System and product are worked, using digital information to agricultural equipment under the support of hardware by performing control software Track and operation process carry out the system and product of control；

(9) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control System and product use PC machine (or microcomputer or computer or similar computer equipment), using general operating system (such as Windows, Android, Linux, winCE etc.) platform, a kind of HMI of agricultural equipment automatic control system is built, passes through string Row communication, fieldbus are connect with a kind of agricultural equipment automatic control system；Using general operating system (such as Windows, Android, Linux, winCE etc.) platform, a kind of agricultural equipment automatic control system software development is convenient, makes a kind of agricultural machinery Device automation control system software product has opening, convenient for being connect with other software (such as CAD/CAM/ networks)；

(10) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control System and product use the PLC (programmable controller) of independent CPU, and I/O control functions are realized by software；It is only by designing Vertical PLC (module) realizes data communication and data sharing by serial communication or two-port RAM and system CPU, and then realizes The co-ordination of automatic control device and PLC；

(11) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control System and each servo-driver of product and spindle driver are using full-digital control, and CPU uses high-speed dsp, to ensure position Put the realization of the complicated algorithms such as control, speed control, victor chan ge control, Direct Torque Control；Originally return to automation control The feedback amount of system feeds back to servo-driver, closed-loop control is realized in servo-driver, all servo parameters are (such as： Electric current loop, Voltage loop, temperature ring, humidity ring, gravity ring, other rings, speed ring, position ring parameter) automatic control system and The control panel setting management of product, matches each axis servo；

(12) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control Each subsystem of system and product includes Real-Time Network interfaces；

(13) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control System is a kind of open system, is formed using computer and its companion module, makes a kind of agricultural equipment automatic control system Standardization, modularization；Intelligence (operation, programming etc.), data sharing (CAD/ convenient for agricultural equipment automatic control system CAE/CAPP/CAM) and the seriation of system, it is compatible and upgrading；

(14) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural machinery of Open architecture is set Standby automatic control system and product are a kind of Soft type automatic control systems, i.e., completely using the complete of PC machine or computer The automatic control system of software form, the repertoire processing of automatic control device are carried out entirely by PC machine or computer, and It is controlled by interface card for being mounted in PC machine or expanded slot of computer etc.；

(15) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of PC machine or computer insertion are certainly The agricultural equipment automatic control system of dynamicization control device formula structure, i.e., between PC machine or computers and automation control system It is connected with dedicated bus；

(16) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control Device is embedded in agricultural equipment automatic control system, that is, motion controller (card)+PC types of PC formula structures, the expansion slot of universal PC Middle insertion motion control card uses the automatic control system using PC as hardware platform completely；

(17) a kind of agricultural equipment automatic control system and product are characterized in that including：A kind of agricultural equipment automation control System and product have the function of control function, preparatory function, interpolation function and fixed cycles, feed function, main shaft function, auxiliary Assist energy, tool management function, compensation function, good in interactive function, self-diagnostic function, communication function；

(18) a kind of agricultural equipment automatic control system and product are a kind of drivings with controlling each of various productions of being engaged in agriculture Kind mechanical equipment or robot carry out the automatic control system and product of automated job；

(19) a kind of agricultural equipment automatic control system and product are any one features in a kind of feature (1) to feature (18) Or the system and product of arbitrary various features assemblage characteristic.

4. a kind of agricultural equipment automatic control system software product is characterised by comprising：

(1) a kind of agricultural equipment automatic control system software product, it is characterised in that including：A kind of agricultural equipment automation control System software product processed receives and processes the information of input medium, and is identified, stored with code, operation, and output is corresponding Command pulse (instruction) by controlling, driving the servomechanism installation and motor of servo-drive system, generates each mechanism of automation agricultural equipment Movement；

(2) a kind of main task of agricultural equipment automatic control system software product is by (or/and operation of required working region Region agriculture, woods crop) resemblance information representation into agricultural equipment job information, be transformed into the position of each feed shaft of agricultural equipment Instruction, speed of mainshaft instruction and auxiliary movement instruction are moved, track movement and the logical action of agricultural equipment is controlled, makes agricultural equipment It works needed for working region needed for completing in an orderly manner；

(3) a kind of development scheme of agricultural equipment automatic control system software product is the computer program using object-oriented Design language (or System Development Language；Or programming language；Or C language；Or C Plus Plus；Or JAVA language；Or other language) It is developed and is designed under computer (PC machine) operating system (or DOS or Windows or Linux or Android) platform, Using technologies such as object-orienteds, using modularization, stratification, dynamic configuration principle, make a kind of agricultural equipment automation control System software product has the arbitrary multiple performance combination of 9 kinds of performances, and 9 kinds of performances include：Real-time treatability, opening, Multi-task parallel treatability, interrupt mechanism, interchangeability, scalability, interoperability manipulation, scalability, polymorphism；

(4) a kind of agricultural equipment automatic control system software product, it is characterised in that including：A kind of agricultural equipment automation control The management software product of system processed；

(5) a kind of agricultural equipment automatic control system software product, it is characterised in that including：A kind of agricultural equipment automation control The management software product feature of system processed is to include：

1. a kind of management software product of agricultural equipment automatic control system is characterized in that including：A kind of agricultural equipment is automatic The management software product of networked control systems is used for the management software product being managed to a kind of agricultural equipment automatically working；Institute Management software product is stated to include：Input/output procedure, signal procedure, I/O processing routines, display program, diagnostic program etc.；

2. a kind of management software product of agricultural equipment automatic control system is characterized in that including：Management software product packet It includes：System initialization module, system program scheduler module, agricultural equipment parameter module, communication function module, file management mould Block, agricultural equipment working procedure editor module, ladder diagram editor module；

3. a kind of agricultural equipment automatic control system management software product is characterized in that including：A kind of agricultural equipment automation Control system includes：Input/output procedure；The input/output procedure receives the agricultural equipment operation procedure of input, will input Agricultural equipment operation procedure storage in a buffer, by buffer reach agricultural equipment operation procedure memory in；

4. a kind of software product of agricultural equipment automatic control system is characterized in that including：A kind of agricultural equipment automation control The management software product of the software product of system processed includes：Management program；

5. a kind of software product of agricultural equipment automatic control system is characterized in that including：The management journey of management software product Sequence characteristics are to include：Management program is responsible for working to data input, data processing, interpolation operation etc. for automated agricultural machine equipment The various programs of process services are scheduled management；Management program will also be to operation panel order, clock signal, fault-signal etc. Caused interruption is handled；

6. a kind of software product of agricultural equipment automatic control system is characterized in that including：The management journey of management software product Sequence characteristics are to include：Management program mainly includes：CPU is managed and peripheral equipment management, reasonable arrangement and association such as front and back program Work is adjusted, being in communication with each other between interrupt service routine, control panel and the monitoring of various information on operation panel；

7. a kind of agricultural equipment automatic control system management software product is characterized in that including：Management software product includes： Show program；The display program is used for displaing coordinate value parameter and instruction code, function code, can also make agricultural operation region Graphical display；The display of automated agricultural machine equipment availability mode, display of agricultural equipment working procedure etc.；

8. a kind of agricultural equipment automatic control system management software product is characterized in that including：Management software product includes： Diagnostic program；The function of the diagnostic program is to find the failure of system in time, and point out fault type in program operation, can Before operation or after failure generation, check whether the function of various parts is normal, and points out the position broken down；

9. a kind of agricultural equipment automatic control system management software product is characterized in that including：Management software product includes： Signal procedure；The function of the signal procedure is：Realize the data input in agricultural equipment single-unit operation and output equipment and agriculture Machine equipment automatic control system carries out data transmission and communicates with information；Realize that a variety of more automated agricultural machine equipment are automating Communication in operating system；Realize communication of the automated agricultural machine equipment in networking production；

10. a kind of agricultural equipment automatic control system management software product be characterized in feature 1. to feature 9. in any one Feature or the feature of arbitrary various features combination

A kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The management software product of system be characterized in feature 1. to feature 10. in any one feature or arbitrary various features combination spy Sign；

(6) a kind of agricultural equipment automatic control system software product, it is characterised in that including：A kind of agricultural equipment automation control System controlling software product processed；

(7) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The control software product feature of system processed is to include：

1. a kind of control software product of agricultural equipment automatic control system is characterized in that including：Control software product is used for The control software product controlled agricultural equipment automation；The control software product includes：Translator, agricultural equipment Compensation program, interpolation operation program, speed processing routine, position control program etc.；

2. a kind of control software product of agricultural equipment automatic control system is characterized in that including：Control software product packet It includes：G functional processing modules, working cycles control module, motion-control module, monitoring and diagnosis module, interruption control module, PLC Processing module；

3. a kind of agricultural equipment automatic control system control software product is characterized in that including：Control software product includes： Decode processing routine；The decoding processing routine is handled agricultural equipment operation procedure as unit of a program segment, One of the various agricultural operation regional work information (such as starting point, terminal, straight line or circular arc), motion mode (the G generations of agricultural equipment Code), agricultural equipment operating speed information (F codes) and other auxiliary informations (M, S, T code) be according to certain syntax rule solution The data mode of computer capacity identification is interpreted into, and the internal storage location specified is stored in certain data format；In decoding process In, the syntax check to program segment is also completed, it is found that syntax error is alarmed immediately；

4. a kind of agricultural equipment automatic control system control software product is characterized in that including：Agricultural equipment compensation program (or precomputation program)；The agricultural equipment compensation program (or precomputation program) is exactly the data processing journey of control software product Sequence；The agricultural equipment compensation program (precomputation program) includes：Agricultural equipment tool (or tool heads) length compensation, agricultural machinery are made Industry tool (or tool heads) radius compensation, the anti-backlash compensation of agricultural equipment, agricultural equipment leading screw pitch compensation, agricultural equipment cross as Limit and direction of feed judge, agricultural equipment feed speed converts, at agricultural equipment feed speed control and agricultural equipment miscellaneous function Reason；

5. a kind of agricultural equipment automatic control system control software product is characterized in that including：Patching plug program；

6. a kind of agricultural equipment automatic control system control software product is characterized in that including：The patching plug program feature exists In including：Patching plug program is according to the data provided in agricultural equipment operation procedure, such as the type of curve, starting point, terminal progress Operation according to operation result, sends out feeding pulse to each coordinate system axis respectively；The feeding pulse drives agriculture by servo-drive system Machine equipment or agricultural equipment tool (or tool heads) make corresponding movement, complete the task of procedure stipulation；

7. a kind of agricultural equipment automatic control system control software product is characterized in that including：The patching plug program feature exists In including：Patching plug program is a kind of control formula program in real time；Be it is a kind of on one side carry out interpolation operation, while work it is real-time The program of control；

8. a kind of control software product of the software product of agricultural equipment automatic control system is characterized in that including：Speed control Processing procedure sequence；The speed control program controls the frequency of interpolation operation according to given velocity amplitude, to ensure scheduled feeding speed Degree needs to carry out automatic deceleration control, to avoid because causing drive system step-out during velocity jump：

9. a kind of agricultural equipment automatic control system control software product is characterized in that including：Position controls program；It is described The main task of position control program be within each sampling period of servo-drive system, theoretical position that Fine interpolation is calculated with Actual feedback position is compared, the input that difference is adjusted as servo, and servo motor is controlled through servo-driver；In position The Gain tuning of position loop, the compensation of pitch error and backlash Compensation of Half of each coordinate are also completed in control, to improve agriculture The positioning accuracy of machine equipment；

10. a kind of control software product of agricultural equipment automatic control system be characterized in feature 1. to feature 9. in it is any one Kind feature or the feature of arbitrary various features combination；

A kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The control software product of system be characterized in feature 1. to feature 10. in any one feature or arbitrary various features combination spy Sign；

(8) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment working procedure It is single；

(9) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment working procedure List is characterized in that including：

1. a kind of agricultural equipment work procedures sheet is characterized in that including：Agricultural equipment work procedures sheet is according to operating area figure Operating type, operation process, technological parameter needed for sample (or operating area agriculture, woods crop Eigen Structure) or operating area With a kind of dedicated automation control programming language (or numerical control programming language or ATP language or by letter, number Word and a set of basic symbol provided, by the language that certain morphology and syntax rule form, for describing operating area Correlation and agricultural equipment operation process between geometry, geometric element, the language of technological parameter) come describe automation agriculture The program list that machine equipment operation process is worked out；

2. a kind of agricultural equipment work procedures sheet is characterized in that including：Agricultural equipment work procedures sheet is according to using numerical control language Speech or/with ATP language the automated agricultural machine equipment of operating area is described in detail whole by defined instruction code and set form The working trajectory of power tool (or operation head of tool device) in a course of work and path and automated agricultural machine equipment master Each action step of body is compiledThe work procedures sheet formed；

3. a kind of agricultural equipment work procedures sheet is characterized in that including：Agricultural equipment work procedures sheet be using code designation and Set form come the entire operation process feature of each operating type of the agricultural equipment of operating area needed for being described in detail and The work procedures sheet that each action step feature of the execution of automated agricultural machine equipment is worked out；

4. a kind of agricultural equipment work procedures sheet is characterized in that including：Agricultural equipment work procedures sheet is good work prepared in advance Make program list, the agricultural to operating area is automatically completed according to agricultural equipment working procedure single control agricultural equipment by computer The various operations of management work are received in various productions or agriculture, the cultivation of woods crop；

5. a kind of agricultural equipment work procedures sheet is characterized in that including：Code used in the establishment of agricultural equipment work procedures sheet Mainly include：Preparatory function G instructions, feed function F instructions, spindle speed S instructions, power tool (or power tool device) T Instruction, miscellaneous function M instructions.

6. a kind of agricultural equipment work procedures sheet is characterized in that including：The compilation process and step of agricultural equipment work procedures sheet It is characterized in that including：

The feature of A analyses operating area or agriculture, the woods crop feature of operating area；

B determines agricultural equipment automated job mode；

C selects the tool (or power tool device) of agricultural equipment automated job；

D determines the coordinate dot of agricultural equipment automated job；

The working trajectory of the tool (or operation head of tool device) of E selection agricultural equipment automated jobs and path；

F determines each priority action for performing machine work process in relation to agricultural equipment automated job；

G carries out Mathematical treatment；

H writes a kind of agricultural equipment work procedures sheet of agricultural equipment automatic control system software product；

I is inputted with storing a kind of agricultural equipment work procedures sheet of agricultural equipment automatic control system software product；

J verifies a kind of agricultural equipment work procedures sheet of agricultural equipment automatic control system software product；

A kind of agricultural equipment work procedures sheets of K are characterized in that：The compilation process of agricultural equipment work procedures sheet and the spy of step Sign is any one feature or the feature of arbitrary various features combination in feature A to feature J；

7. a kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet programs Instruction；

8. a kind of agricultural equipment automatic control system software product is characterized in that including：The volume of agricultural equipment work procedures sheet Cheng Zhiling is characterized in that including：

Agricultural equipment work procedures sheet includes described in A：Preparatory function (or G) instructs；Preparatory function (or G) instruction is used for advising Determine the power tool (or tool heads of power tool device) of agricultural equipment and relative movement orbit (the i.e. interpolation work(of operating area Can instruction), agricultural equipment coordinate system, interpolation coordinate plane, agricultural equipment power tool (or power tool head) compensation, coordinate The several work such as biasing operation；G instructions are by alphabetical G and two digits form below, the code from G00 to G100；

Agricultural equipment work procedures sheet includes described in B：Feed function (or F) instructs；Feed function (or F) instruction is used to refer to Determine each coordinates of motion axis of agricultural equipment and its amount of feeding or lead of screw thread that arbitrarily combine；The feed function (or F) instructs Continuous effect code, there are two types of representation methods, i.e. code method, directly specified method；

Agricultural equipment work procedures sheet includes described in C：Spindle control M is instructed and speed (or S) instruction；The speed of the Spindle control Degree (or S) instruction is used to specify the rotating speed of main shaft, is represented with alphabetical S and subsequent 2 to 4 bit digital；Spindle control M instruction and Command M 03 (forward direction), M04 (reversed) stop being instructed with M05 for control direction；

Agricultural equipment work procedures sheet includes described in D：Power tool (or power tool device) (or T) instructs；The operation work Has (or power tool device) (or T) instruction in the automated agricultural machine equipment for moving power tool (or power tool device) certainly In, for selecting required power tool (or power tool device), while also it is used for representing selection power tool (or operation work Have device) it biases and compensates, T function words are made of address character T and subsequent 2 to 4 bit digital；

Automated agricultural machine equipment availability program includes described in E：Miscellaneous function (or M) instructs；Miscellaneous function (or M) instruction includes M00 to M100 amounts to 100 kinds, including continuous effect instruction and non-continuous effect instruction；

The programming instruction of F agricultural equipment work procedures sheets is characterized in any one feature or arbitrary a variety of in feature A to feature E The feature of feature combination；

A kind of agricultural equipment automatic control system software product is characterized in that the programming of agricultural equipment work procedures sheet refers to described in J It enables and is characterized in any one feature or the feature of arbitrary various features combination in feature A to feature F；

9. a kind of agricultural equipment automatic control system software product is characterized in that including：The journey of agricultural equipment work procedures sheet Sequence structure and form are characterized in that including：

A agricultural equipment automatically working program lists are made of program number, program segment and EP (end of program) etc.；In the beginning of working procedure It is program number, to carry out program search；By program segment form operation procedure full content and the stopping of automated agricultural machine equipment/ Open information；

The block format of B agricultural equipment automatically working program lists：Agricultural equipment working procedure is made of program segment, program segment By program number, contents of program, program segment termination character is added to form afterwards；Contents of program is by various instruction codes and corresponding coordinate size It is formed with specification word；

The program structure and form of C agricultural equipment work procedures sheets are characterized in any one feature or 2 in feature A to feature B The feature of kind feature combination；

A kind of agricultural equipment automatic control system software products of D are characterized in that including：The journey of agricultural equipment work procedures sheet Sequence structure is characterized in the feature that any one feature or arbitrary various features combine in feature A to feature C with form；

10. a kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment automatically working Program list includes：Main program and subprogram；The first row of the subprogram is subprogram number, and last column is end of subroutine Instruction, program process are：Main program is first carried out, when " call subroutine program " instruction is encountered in implementation procedure, is transferred to Execution subroutine has performed subprogram, encounters " returning main program " instruction, and return and perform main program；Subprogram can be nested, son Program " is returned master " and can only be returned after performing calls its program, not necessarily returns to " main program ", main program can call multiple sons Program can call same subprogram repeatedly；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet Including：Variable parameter or/and custom macro program；The custom macro program is containing the subprogram for including variable, is breathed out in a program The instruction of (calling) custom macro program is user's macro, in custom macro program, can use calculation formula and Go To statement and more Kind function；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet Including：Variable parameter；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet Variable parameter be characterized in that including：

A agricultural equipment work procedures sheets include：Public variable；The public variable refers to breathe out in main program and by main program Each custom macro program in common variable, the indirect assignment or with calculation formula assignment in main program and custom macro program, manually It sets (assignment)；

B agricultural equipment work procedures sheets include：Local variable；The local variable is just limited to use in custom macro program Variable, same local variable, its value is not general in different macroprograms, and macroprogram is in same level or not in same layer It is secondary, value be it is not general, local variable exhalation macroprogram macro-instruction in assignment, can in macroprogram indirect assignment or use Calculation formula assignment, in commission, the value of custom macro program built-in variable is only remained into until the macroprogram terminates, local variable It cannot be set on operation panel；

C agricultural equipment work procedures sheets include：System variable；The system variable is the variable of fixed-purpose, its value determines The state of system, the code name of system variable and certain state of system have stringent correspondence；It has the input and output of interface Signal variable, tool (or tool device) shape compensation variable, synchronizing signal variable, control program segment stop and wait for auxiliary work( Energy end signal variable, variable corresponding with parameter setting, status information variable, location information variable set variable with origin, Origin displacement variable, tool (or tool device) length compensation variable, tool (or tool device) radius compensation variable, tool (or tool device) interference data variable, dependent variable；

The variable parameter of D agricultural equipment work procedures sheets is characterized in any one feature or arbitrary a variety of in feature A to feature C The feature of feature combination；

A kind of agricultural equipment automatic control system software products of E are characterized in that including：The change of agricultural equipment work procedures sheet Amount parameter is characterized in any one feature or the feature of arbitrary various features combination in feature A to feature D；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet includes： Variable calculates：The calculation of the variable includes adding, subtract, multiplication and division, logic or logic or non-, logical AND；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet includes： Variable function；Function performance belongs to the selection function of automatic control system, and variable function is one in the range of user's macroefficiency The advanced function of kind；Variable function include sine, cosine, tangent, arc tangent, square root, absolute value, etc. several functional operation work( Energy；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet includes： Variable assignments；The variable assignments includes：Indirect assignment, indirect assignment are the office in custom macro program in custom macro program Portion's variable assignments；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet includes： Go To statement；The Go To statement divides unconditional GO TO statement and conditional go to statement, and conditional statement is by formula and the steering of having ready conditions Target two parts are formed；

A kind of agricultural equipment work procedures sheet write method of agricultural equipment automatic control system software product is characterized in that Including：

A determines the coordinate system of agricultural equipment；

B sets the coordinate origin of agricultural equipment and operating area；

C sets agricultural equipment and the absolute coordinate and relative coordinate of operating area；

D is instructed using G relevant with coordinate；It is characterized by comprising：Absolute coordinate programming instruction is represented with G90, with G91 tables Show relative coordinate values programming instruction, the preset register instructions of operating area programming coordinates system setting are represented with G92；With G53 to G59 Represent zero offset setting instruction；The setting instruction of interpolation coordinate plane is represented with G17, G18, G19, represents quickly to position with G00 Instruction, represents that linear interpolation instructs with G01, represents that circular interpolation instructs with G02, G03；

E operating types according to needed for operating area pattern (or operating area agriculture, woods crop Eigen Structure) and operating area, Select power tool (or tool device)；

F determines automated agricultural machine equipment availability route, selects the contact with operating area (or/with operating area agriculture, woods crop) Amount, writes agricultural equipment work procedures sheet；

G agricultural equipment work procedures sheet write methods are characterized in any one feature or arbitrary a variety of spies in feature A to feature F Levy the feature of combination；

A kind of agricultural equipment automatic control system software products of H are characterized in the spy of agricultural equipment work procedures sheet write method Sign is any one feature or the feature of arbitrary various features combination in feature A to feature G；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet includes： Preparatory function (G code)；The preparatory function (G code) for provide agricultural equipment movement line style, coordinate system, coordinate plane, The operations such as tool compensation, pause；

A kind of agricultural equipment automatic control system software product is characterized in that including：The spy of agricultural equipment work procedures sheet Sign is to include：Miscellaneous function (M instructions)；The miscellaneous function (M instructions) is for controlling agricultural equipment and its auxiliary device The instruction of break-make；It such as opens, stop hydraulic system execution electric appliance, main shaft rotating, stalling, EP (end of program)；

A kind of agricultural equipment automatic control system software product is characterized in that including：The spy of agricultural equipment work procedures sheet Sign is to include：Feed function (F instructions)；The feed function (F instructions) is used to specify agricultural equipment feed speed；Main shaft turns Fast function (S instructions) is used to specify the rotating speed or speed of agricultural equipment main shaft；Instrumental function (T instructions) is used to specify agricultural equipment Select tools number and tool compensation number；A, B, C instruction are used to specify along revolution reference axis and move direction and goal position；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet includes： A kind of robot work operations program, various agricultures, woods crop harvesting work operations program, various agricultures, woods crop fertilising operation It is working procedure, various agricultures, woods crop hydrojet, spray drug operation working procedure, various agricultures, woods crop rice transplanting work operations program, each Kind agriculture, woods crop throw seedling work operations program, various agricultures, woods crop seeding operation working procedure, various whole field tillage operation works Make program, a kind of weeding work operations program, various agricultures, woods crop picking work operations program, various agricultures, woods crop are transplanted seedlings work Industry working procedure, various agricultures, woods crop other work operations programs, ditching operation working procedure, digging operation working procedure, fortune Defeated work operations program, various agricultures, woods crop crops between row weeding work operations program, various agricultures, woods crop management make Industry working procedure；

A kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment work procedures sheet includes Any one working procedure or arbitrary a variety of working procedures in 17 kinds of working procedures；17 kinds of working procedures include：It is a kind of Robot work operations program, various agricultures, woods crop harvesting work operations program, various agricultures, the fertilising operation work of woods crop Program, various agricultures, woods crop hydrojet, spray drug operation working procedure, various agricultures, woods crop rice transplanting work operations program, various agricultures, Woods crop throws seedling work operations program, various agricultures, woods crop seeding operation working procedure, various whole field tillage operation work journeys Sequence, a kind of weeding work operations program, various agricultures, woods crop picking work operations program, various agricultures, woods crop are transplanted seedlings operation work Make program, various agricultures, woods crop other work operations programs, ditching operation working procedure, digging operation working procedure, transport are made Industry working procedure, various agricultures, woods crop crops between row weeding work operations program, various agricultures, woods crop management operation work Make program；

Agricultural equipment work procedures sheet is characterized in 1. feature arrives featureIn any one feature or arbitrary various features combination Feature；

A kind of automatic control system software product is characterized in that agricultural equipment work procedures sheet is characterized in 1. feature arrives featureIn any one feature or arbitrary various features combination feature；

(10) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment working procedure Single automated programming product；

(11) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment working procedure Single automated programming product is characterized in that including：

1. a kind of numerical control Programming with Pascal Language (such as ATP language) automated programming product；The numerical control Programming with Pascal Language (such as ATP language) is automatic Programmed product it is characterized by comprising：Automatic programming method based on numerical control language；According to operating area pattern (or Operating area agriculture, woods crop Eigen Structure) and operating area needed for operating type, operation process, technological parameter it is a kind of special Numerical control programming language or ATP language (i.e. by letter, number and a set of basic symbol for providing, by certain morphology and language The language that regulation then forms, for describing the correlation and agricultural equipment work between the geometry of operating area, geometric element Industry process, technological parameter) automated agricultural machine equipment availability process described, i.e. then referred to as agricultural equipment operation source program will In source program input computer, it is compiled by computer, tool path calculates, finally corresponding with agricultural equipment used again After post processing program processing, corresponding agricultural equipment work procedures sheet is automatically generated；

2. graphical interaction programs (such as CAD/CAM softwares) automated programming product；The graphical interaction programs (such as CAD/CAM softwares) Automated programming product it is characterized by comprising：Using the graphics edition function of CAD/CAM softwares by operating area and operating area Agriculture, woods crop geometric figure be plotted to computer, form the graphic file of operating area, then call numerical control programming module, The position to work needed for being specified on the computer screen by the way of human-computer interaction, then corresponding work technological parameter is inputted, Computer carries out necessary Mathematical treatment automatically, and develops agricultural equipment working procedure, while dynamic on the computer screen Show agricultural equipment work head working trajectory；

3. speech type automated programming product；The speech type automated programming product it is characterized by comprising：Made using the sound of people For input information, and with computer and display direct dialogue, computer is enabled to compile out the one of agricultural equipment automated job program Kind method；During voice programming System Programming, programmer need to only tell required instruct；

4. natural pattern pattern automated programming product；Natural pattern pattern automated programming product it is characterized by comprising：It is set using agricultural machinery Standby vision system inputs operating area or agriculture, woods crop graphic feature, then handled obtained information by computer, Agricultural equipment is controlled, exports agricultural equipment automatic job work procedures sheet；With natural pattern pattern automated programming；

5. a kind of agricultural equipment work procedures sheet automated programming product be characterized in feature 1. to feature 4. in any one feature Or the feature of arbitrary various features combination；

6. a kind of agricultural equipment automatic control system software product is characterized in that a kind of agricultural equipment work procedures sheet is compiled automatically Journey product be characterized in feature 1. to feature 5. in any one feature or arbitrary various features combination feature；

(12) a kind of agricultural equipment automatic control system software product is characterized in that including：

1., operation and operational management task module；Operation and operational management task module are characterized in that including：

A, display and operation submodule；B, system operation management submodule；C, agricultural equipment work procedures sheet and systematic parameter pipe Manage submodule；

2., agricultural equipment working procedure preprocessing tasks module；The feature of agricultural equipment working procedure preprocessing tasks module exists In including：A, program reads in submodule；B, coordinate system setting submodule；C, submodule is decoded；D agricultural equipments power tool compensates Submodule；

3., movement and PLC control task modules；Movement and PLC control task modules are characterized in that including：

A, interpolator submodule；B, hand feed submodule；C, interpolation/manual switching submodule；D, coordinate transform submodule；E、 Agricultural equipment bed body error submodule；F, agricultural equipment bed body transmission matched sub-block；G, external device communication submodule；H、 PLC control submodules；

4. a kind of agricultural equipment automation control software product includes any one module or arbitrary a variety of in 3 kinds of task modules The module of block combiner, 3 kinds of task modules include：Operation and operational management task module, agricultural equipment working procedure are pre- Handle task module, movement and PLC control task modules

(13) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of system operatio and operation are controlled Processing task processed；

(14) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of system operatio and operation are controlled Processing task processed is characterized in that including：

1. the system operatio and operation control；The system operatio and operation control provide man machine operation interface, system data Management and operational management function：Use operational order interface, system information interface, parameter interface, display information interface；

2. the system operatio and operation control include：Man machine operation interface, agricultural equipment working procedure and systematic parameter management, System operation management module；The operating personnel by the operation of man machine operation interface auto-control agricultural equipment, including：System System status display, agricultural equipment work operation, agricultural equipment adjustment, the writing and manage of agricultural equipment working procedure, agricultural machinery is set The setting and management of standby parameter；By showing that information interface obtains the information of other function modules, shown for system mode；

3. the display and systematic parameter management module；The display and systematic parameter management module support human-machine interface function It realizes, systematic parameter is provided for other function modules by parameter interface；

4. the system operation management module；The system operation management module controls agricultural equipment automatic control system program Overall operation, operation control command is sent out to other function modules by operational order interface, by system information interface from Other function modules obtain system running state, the operation of synchronization system；

5. the operation and display module；The operation and display module are characterized in that：Operation is defeated with display interface module Enter to connect the output that agricultural equipment working procedure reads in module and interpolation/manual switching module；Operation and display interface module The input of O connection system operational management module sets main operation interface, automatic cycle interface, manual operation interface, agricultural machinery Standby working procedure editing interface, tool parameters set interface, agricultural equipment automatic control system coordinate system parameters set interface, The operation at each interfaces such as system configuration parameter interface, other interfaces can all meet with a response in the module；

6. the system operation management function module；The system operation management function module is received from system human-machine operation circle The agricultural equipment automatic control system operational order of face mould block and PLC interface controls operation and the method for operation of whole system Control, including：A agricultural equipments working procedure pretreatment (agricultural equipment working procedure is read in, decoding)；B motion controls (interpolation, Coordinate transform)；The continuous operation of C patching plug programs；D loop starts；E feedings preserve；F work continues；G is out of service；H manually into It is selected to axis；I hand feeds；

7. the operation and operational management be characterized by feature 1. to feature 6. in any one feature or arbitrary a variety of spies Levy the feature of combination；

(15) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment working procedure Preprocessing tasks；

(16) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment working procedure Preprocessing tasks；It is characterized in that including：

1. a kind of agricultural equipment working procedure preprocessing tasks it is characterized by comprising：Agricultural equipment working procedure is pretreated Journey：Agricultural equipment working procedure reads in module from agricultural equipment working procedure file read-in programme section, is sent by data cable To decoder, decoder decodes agricultural equipment working procedure section and analyzes, and isolates motion control instruction and miscellaneous function control Instruction, then, motion control instruction form interpolation instruction by subsequent programming coordinates system setup module, tool compensation module, It is used for subsequent interpolator module and PLC control modules；

2. a kind of agricultural equipment working procedure preprocessing tasks it is characterized by comprising：Decoding function；The decoding function is agriculture The Core Feature of machine equipment working procedure preprocessing tasks；The decoding function will describe automated agricultural machine equipment moving and auxiliary The agricultural equipment working procedure of function action is converted into the control data inside a kind of program of automatic control system；

3. a kind of agricultural equipment working procedure preprocessing tasks it is characterized by comprising：Agricultural equipment work procedures sheet is with text text Part is stored in the file storage medium of computer, and agricultural equipment working procedure reads in module from agricultural equipment working procedure file Middle reading program sentence, is subsequently transmitted to subsequent decoder module；Decoder will use character string according to the rule of regulation The automation control sentence that form represents is converted into preparatory function (including G, D, F code), auxiliary function (including M, N, S, T generation Code) and position coordinate data (including X, Y, Z, A, B, C, I, J, K, code position instruction code), connected by output data cable Connect subsequent coordinate system setup module and tool compensation module；

4. a kind of agricultural equipment working procedure preprocessing tasks it is characterized by comprising：The coordinate system setup module；The seat The function of mark system setup module includes：A programs conversion work(of the operating area coordinate system to automated agricultural machine equipment bed body coordinate system Energy；B programs the proportional zoom function of motion path；C Mirroring Mapping functions；The rotation of D coordinate systems, locomotive function；E polar coordinates are to straight The functions such as angle master coordinate system conversion function；

5. a kind of agricultural equipment working procedure preprocessing tasks it is characterized by comprising：The coordinate system processing parameter；The seat Mark system processing parameter is set by automated agricultural machine device operator in automated agricultural machine equipment operation panel, is stored in system coordinates It is in Parameter File and data structure, the work(of coordinate system module is selected by the program instruction of automatic control system software product Any one in energy or the arbitrarily use of multiple functions combination function or revocation；

6. a kind of agricultural equipment working procedure preprocessing tasks it is characterized by comprising：The tool compensation module；The tool Compensating module carries out tool radius compensation and automated agricultural machine equipment tool length compensation and tool radius and position according to data Compensation；

A kind of a kind of 7. agricultural equipment automatic control system software product, it is characterised in that agricultural equipment working procedure pretreatment Task be characterized in feature 1. to feature 6. in any one feature or arbitrary various features combination feature；

(17) a kind of software product of agricultural equipment automatic control system is characterized in that including：A kind of agricultural equipment automation The software of control systemProduct include：Movement and PLC control task modules；

(18) a kind of software product of agricultural equipment automatic control system is characterized in that including：Movement and PLC control tasks Module is characterized in that including：

1. movement and PLC control task functions of modules are will to turn by the motion control instruction of agricultural equipment working procedure pretreatment The real time position instruction of the reference axis of automated agricultural machine equipment is melted into, the fortune of automation agricultural equipment is generated by servo motor It is dynamic；

2. movement and PLC control task modules include：External device communication control module；

3. movement and PLC control task modules include：External device communication control module is characterized in that including：

A communication control modules are used for according to system configuration parameter, establish and safeguard fieldbus (tablet computer and FED) main website it Between communication function；

B communication control modules are according to the instruction from automated agricultural machine equipment transmission matching module and the number from PLC module Output data is measured, generates UDP messages, is sent to the function of FED main websites；

C communication control modules are by the kinematic axis for obtaining the return of FED main websites and set digital quantity I/O in the function of state, such as lead The actual speed of axis, torque, digital quantity input data etc., forward it to PLC module；

D external device communication control modules are characterized in any one feature or the combination of arbitrary various features in feature A to feature C Feature；

4. movement and PLC control task modules external device communication control module it is characterized in that：Mounted on computer operation Automatic control system in system (Android tablet computers) is connect by USB/Ethernet converters with FED main websites, FED field bus devices are connect with feed servo, main shaft, digital quantity I/O, sensor and other external equipments；

5. the external device communication control module of movement and PLC control task modules includes：The code of communication protocol message；

6. the feature of the code of the communication protocol message of the external device communication control module of movement and PLC control task modules exists In including：

It communicates between A tablet computers and FED main websites and is realized using udp protocol；

The IP address and UDP port number of B data frame are provided by parameter；

A kind of agricultural equipment automatic control system software product communication messages of C are by heading and correspond to each FED slave stations Sub- message composition, they are all embedded in UDP message field；

The numerical value of " the slave station type " of " the sub- message number " of D headings, " sub- message length " and each sub- message is by joining Number provides；

E is moved and the code of the communication protocol message of the external device communication control module of PLC control task modules is characterized in Any one feature or the feature of arbitrary various features combination in feature A to feature D；

7. the external device communication control module of movement and PLC control task modules includes：Communication protocol message

8. the communication protocol message of the external device communication control module of movement and PLC control task modules is characterized in that wrapping It includes：

Communication message includes used in external device communication described in A：Starting point message；The starting point message is it is characterized in that start Stepped reckoner is sent to the message of FED main websites, controls FED bus startings, starts message and does not include sub- message；

Communication message includes used in external device communication described in B：Response message；The response message is it is characterized in that start Stage FED main website returns to the message of computer, notifies the starting state of each FED slave stations of computer；

Communication message includes used in external device communication described in C：Instruction message；Described instruction message is it is characterized in that the period Operation phase tablet computer is sent to the message of FED main websites, and tablet computer can send position by director data to FED slave stations Instruction, speed command, torque instruction, messaging parameter, servo parameter, digital output data etc.；

Communication message includes used in external device communication described in D：State message；The state message is it is characterized in that the period Operation phase FED main website returns to the message of computer, and FED slave stations send the actual bit of servo by status data to computer Put, actual speed, actual torque, messaging parameter, servo parameter, digital quantity input and output etc.；

9. movement and PLC control task modular characters are to include：Motion control portion；

10. movement and PLC control task modular characters are to include：Motion control portion is mended by interpolator, coordinate transform, error It repays, automated agricultural machine equipment matching module composition；

The motion control portion of movement and PLC control task modules includes：Interpolator；

The interpolator of the motion control portion of movement and PLC control task modules is characterized in that including：

A interpolators are made of Straight Line Inserting-compensator, circular interpolation device, speeding up or down process device module；

B interpolators include interpolation computing function, and the interpolation calculating is divided into interpolation preparation, interpolation calculating, end point judging and processing；

The interpolation of C interpolators is prepared as interpolator operation and prepares necessary preset parameter, includes the move distance of each feed shaft, Interpolation line segment length；The initialization of arc radius, starting point angle, terminal point angle, interpolation angle；

The interpolation of D interpolators calculates：In each interpolation cycle, the position output of interpolator is calculated, including under each interpolation cycle Feeding increment, angle step；

The end point judging of E interpolators and processing：When the interpolation (feeding) that remaining interpolation distance is less than or equal to 1 interpolation cycle increases During amount, expression has reached interpolation terminal, exports terminal point coordinate, and interpolation terminates；

The method of pulse increment compensation interpolation operation includes used by F interpolators：Point-to-point comparison method, digital integration, number It is impulse-type multiplier interpolation, vector discriminance, comparing integral, minimum deviation method, target point tracing, single step back tracking method, straight Connect function method；

The method of Sampled -data interpolation operation includes linear function method, expanding digital integration method, two ladders used by G interpolators Return expanding digital Integral Interpolation Method, Double-number Integral Interpolation Method, angle approaching circular interpolation；

The interpolator of the motion control portion of H movements and PLC control task modules is characterized in any one in feature A to feature G Kind feature or the feature of arbitrary various features combination；

The interpolator of the motion control portion of movement and PLC control task modules includes：Straight Line Inserting-compensator；

The Straight Line Inserting-compensator of the interpolator of the motion control portion of movement and PLC control task modules is characterized in that including：

A Straight Line Inserting-compensators are used to generate the straight running position instruction of reference axis；

B Straight Line Inserting-compensators are according to straight line start position, final position and programming feed speed in each interpolation cycle calculation position Increment, the movement of auto-control agricultural equipment feed shaft；

The interpolator of the motion control portion of movement and PLC control task modules includes：Circular interpolation device；

The circular interpolation device of the interpolator of the motion control portion of movement and PLC control task modules is characterized in that including：

A circular interpolations device is used to generate the circular motion position command of reference axis；

B circular interpolations device is according to the start position of circular arc, final position, center location and programming feed speed in each interpolation week Calculation position increment under phase, control agricultural equipment movement；

The interpolator of the motion control portion of movement and PLC control task modules includes：Speeding up or down process device；

The speeding up or down process device of the interpolator of the motion control portion of movement and PLC control task modules is characterized in that including：

A speeding up or down process device is used to that reference axis to be controlled to start the speeding up or down process with stop phase；

The speeding up or down process device of the interpolator of B motion controls is in order to make automated agricultural machine equipment moving steady and avoid servomechanism installation And motor overload, the lifting speed of controlled motion is needed when the startup of automated agricultural machine equipment, stopping and movement velocity change, makes fortune Dynamic speed smooth transition；

The task of C speeding up or down process modules is according to the acceleration of motion parameter of setting and agricultural equipment working procedure, is interpolation Device provides interpolation rate value；

Movement and PLC control task modules include：Hand feed module；

The hand feed module of movement and PLC control task modules is characterized in that including：

A hand feeds module can realize each reference axis feed motion of manual operation, for automated agricultural machine equipment adjustment and It safeguards；

Other modules such as B hand feeds module and operational order, the interpolator of agricultural equipment automatic control system are connect；

C hand feeds module receives control operational order and interpolation parameters from operation module, and output data cable connects Catcher moves/interpolation output selecting module；

D is moved and the hand feed module of PLC control task modules be characterized in feature A to feature C any one feature or The feature of arbitrary various features combination；

Movement and PLC control task modules include：Interpolation/manual switching module；

Interpolation/manual switching module of movement and PLC control task modules is characterized in that including：

A interpolations/manual switching module is according to system's operating mode order, by interpolator outgoing position or manual operation coordinate axle position It puts and is connected to subsequent coordinates conversion module；

The output data cable of the input connection interpolator module of B interpolations/manual switching module, the output number of manual control module According to cable, control operational order；

The subsequent coordinate transformation module of output data cable connection of C interpolations/manual switching module；

D is moved and interpolation/manual switching module of PLC control task modules is characterized in that any one in feature A to feature C is special Sign or the feature of arbitrary various features combination；

Movement and PLC control task modules include：Coordinate transformation module；

The coordinate transformation module of movement and PLC control task modules is characterized in that including：Coordinate transformation module has tool position With tool gesture stability function, tool location and posture refer under interpolator output and hand feed output operation Regional coordinate system It enables, it is corresponding to calculate each reference axis of automated agricultural machine equipment according to automated agricultural machine device structure data for coordinate transformation module Position coordinates；

Movement and PLC control task modules include：Automated agricultural machine equipment error complementary modulus block；

The automated agricultural machine equipment error complementary modulus block of movement and PLC control task modules is characterized in that including：Automated agricultural machine Equipment bed body error compensation, for mending the foozle of automated agricultural machine plant machinery structure and running part and use environment Caused error, including Error of leadscrew pitch compensation, feed screw nut backlash Compensation of Half, guide rail nonstraightness error compensation, guide rail Geometric error compensation caused by error of perpendicularity compensation, environment temperature；

Movement and PLC control task modules include：Automated agricultural machine equipment is driven matching module；

The automated agricultural machine equipment of movement and PLC control task modules transmission matching module is characterized in that including：Automate agriculture The task of machine equipment transmission matching module is to refer to the feeding shaft position that automated agricultural machine equipment bed body error compensation module exports Enable the position command for being converted into servomechanism installation；

The automated agricultural machine equipment of movement and PLC control task modules transmission matching module is characterized in that including：Automate agriculture The task of machine equipment transmission matching module includes following 2 calculating：

A gearratio matching primitives；Servo motor drives each fitness machine of automated agricultural machine equipment by leading screw or other transmission mechanisms Structure moves, and the virtual condition of automation each motion of agricultural equipment is obtained using detecting element, can be with by gear ratio calculation The command value of agricultural equipment automatic control system is made to be matched with the gearratio of the detected value of detecting element and transmission mechanism, is produced The standard movement of raw automation each motion of agricultural equipment；

B shapings amount is converted；All location variables calculating before automated agricultural machine equipment transmission matching module is floated using double precision Vertex type variable, the output unit of infomation detection element is information resolution, is long variable；The command information of servomechanism installation It should be corresponding with the resolution ratio of infomation detection element, it is necessary to be represented using long variable, it is therefore desirable to represent floating-point variable Information command according to the resolution requirement that automatic control system is set be converted into integer variable expression information command；

Movement and PLC control task modules include：Programmable controller (PLC)；

The programmable controller (PLC) of movement and PLC control task modules is characterized in that including：

Miscellaneous function control instruction M, N, S, T in A agricultural equipment working procedures is defeated by data cable by decoder for decoding Go out to PLC control modules；PLC control modules are inputted by data cable with exporting connection external device communication module, by existing The auxiliary control appliance of field bus operation automation agricultural equipment and being read in from automated agricultural machine equipment and is opened sensor signal OFF signal, such as travel switch；

B is moved and the programmable controller (PLC) of PLC control task modules includes：Programmable controller (PLC) is to automating agriculture The control function of machine equipment；

C moves the feature to the control function of automated agricultural machine equipment with the programmable controller (PLC) of PLC control task modules It is to include：

A. the on-off model of automated agricultural machine equipment side is input to by I/O unit interfaces in PLC, the meaning of signal and is matched The input address put is corresponding；

The control signal of b.PLC is sent to automated agricultural machine equipment side, the meaning of institute's output signal and output by PLC output interfaces Address is opposite；

C. agricultural equipment automatic control device send to the information of PLC and is sent into the register of PLC by automatic control device, institute There is automatic control device to send corresponding with meaning to the signal of PLC and address (switching value address or register address)；

D.PLC is sent to the information of automatic control device, and PLC is sent into the information of automatic control device by register or switching value It completes, all PLC send corresponding with meaning to the Signal Message Address of automatic control device (switching value address or register address)；

E. programmable controller is to operating itemThe control of plate；The control signal of system operatio panel entered automation control and filled before this It puts, then gives PLC, the operation of auto-control agricultural equipment, automated agricultural machine equipment operation face by automatic control device Plate control signal is directly entered PLC, the operation of auto-control agricultural equipment；

The switching signal of automated agricultural machine equipment side is passed through I/O units by f. automated agricultural machine device external switch input signal PLC is input to, carries out logical operation, switching signal, including many detecting element signals, (such as travel switch, close switch, mould Formula selecting switch)；

G. programmable controller controls output signal；PLC output signals through in peripheral control circuits relay, contactor, Solenoid valve etc. is exported to control object；

H. programmable controller realizes T functions；Agricultural equipment automatic control system is sent out T and is instructed to PLC, by decoding, It is retrieved in tables of data, finds the tool number that T codes are specified, and compared with the tool number of agricultural equipment tool clamp Compared with if be not inconsistent, sending out and change facility instruction, tool clamp changes tool, changes tool and completes agricultural equipment automation control system System, which is sent out, completes signal；

I. programmable controller realizes M functions；System is sent out M and is instructed to PLC, by decoding, output control signal, control master Positive/negative turn of axis and startup/stopping etc., M instructions are completed, and system, which is sent out, completes signal；

J. programmable controller is to S function treatments；The PLC directly specified rotating speeds of four codes；

K moves the feature to the control function of automated agricultural machine equipment with the programmable controller (PLC) of PLC control task modules It is any one feature or the feature of arbitrary various features combination in feature a to feature j；

Movement and the programmable controller (PLC) of PLC control task modules, it is characterised in that including：

A. the PLC program includes 4 modules, i.e. common signal module, basic control module, tool model, main shaft module；

B. the common signal module mainly handles the interface signal between PIE and automatic control device；

C. the basic control module is mainly used to handle emergent stopping, lubrication, cooling, mode select, hand feed, program open Stop waiting signals；

D. the tool model：The processes such as selection tool, positioning for tool rack carry out logic control；

E. the main shaft module：For controlling action process such as main shaft rotating, orientation trouble, main shaft speed changes；Module Include two kinds of control logics of servo principal axis and frequency spindle, can be switched over by changing PLC parameters；

F. the software of the PLC is divided into system software and user program two parts, fortune of the system software to control PLC in itself Make, including system supervisor, user instruction interpretive program and standardization program module；System supervisor is used to manage, control The whole service of agricultural equipment automatic control system；

G. the user program is worked out and is inputted by the user of PLC, for controlling the operation of external controlled device；

H. the course of work of the PLC is divided into input sample, program performs, output refreshed for three stages；The course of work of PLC be by Such three stage carries out periodic cycle scanning；

I. the input sample stage：PLC samples all input terminals in the input sample stage in order first, and will input Each corresponding input image register in state or input data the deposit memory of point, i.e. input refresh, and close input terminal immediately Mouthful；It subsequently enters program and performs the stage, perform the stage in program, even if input state includes variation, input image register Content will not change；The state that input signal has changed can only be read into the input sample stage of next scan period；

J. described program performs the stage：Stage PLC is performed to user program sequential scan in program, is performing each instruction When, the state of required input signal can be read in from input image register, and current output state is deposited from element image Device is read in, and then carries out corresponding logical operation by program, and operation result is restored again into element image register；To each member Part, the content of element image register can change with the implementation procedure of program；

K. the output refreshing stage；When all instructions is finished, the shape of all output relays in element image register State dumps to output latch, and export by certain mode in the output refreshing stage, drives external loading,

L. the programming language of the PLC includes：Ladder diagram, statement list, function chart, instruction catalogue, structure text；

M. the PLC trapezoid figure programs include：Common program, Aligning control program, Spindle control program, reference axis control program, Alert process program, timed lubrication control program, cooling control program, automatic tool exchange program, other programs；

N. the programmable controller (PLC) of movement and PLC control task modules, it is characterized in that any one in feature A to feature M Feature or the feature of arbitrary various features combination；

A kind of software product of agricultural equipment automatic control system is characterized in that including：A kind of movement and PLC control tasks Module is characterized in 1. feature arrives featureIn any one feature or arbitrary various features combination feature；

(19) a kind of agricultural equipment automatic control system software product, it is characterised in that including：A kind of system creation and operation Program product；

(20) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of system creation and operation journey Sequence product is characterized in that including：

1. the methods and procedures flow of the operation program for creating automatic control system software product；It is characterized in that packet It includes：

A kind of basic component classes of the program of agricultural equipment automatic control system software product of A (function module, data cable, Parameter) instantiation；

B loading system parameters；

C activation system periodic duties；

Called resource is discharged after a kind of automatic control system EPs (end of program) of D；

2. a kind of program of agricultural equipment automatic control system software product is made of two core classes：

A defines the class of main Activity；

B automatic control system core classes；

3. a kind of its function of the class of the main Activity of definition of automatic control system software program includes：

A instantiates agricultural equipment automatic control system kernel；

B starts agricultural equipment automatic control system periodic duty；

C discharges called resource after closing agricultural equipment automatic control system program；

The changing interface of D control agricultural equipment automatic control system programs, content is shown and action response；

4. the core classes of the agricultural equipment automatic control system software product program are responsible for creating agricultural equipment automation control The basic component and initiation parameter of system processed perform the periodic task of auto-control control system；

5. a kind of agricultural equipment automatic control system software product, it is characterised in that including a kind of system creation and operation program Product be characterized in feature 1. to feature 4. in any one feature or arbitrary various features combination feature；

(21) a kind of agricultural equipment automatic control system software product it is characterised in that it includes：

1. a kind of agricultural equipment automatic control system software product includes：Function module；The function module is a program Unit, for completing the calculation processing requirement of control function；

2. a kind of agricultural equipment automatic control system software product includes：Data cable module；The data cable is one group Variable；The data cable includes character string, double-precision array, shaping type number；Represent agricultural equipment working procedure section, interpolation line Starting point, terminal, feed speed, interpolation position instruction of section etc.；The data cable is used between each function module connect, and is formed Complete control data flow, the operation of auto-control agricultural equipment；

3. a kind of agricultural equipment automatic control system software product includes：Parameter module；The parameter module is used for as one kind The control module configuration operating parameter of agricultural equipment automatic control system；

4., a kind of each function module of agricultural equipment automatic control system software product, data cable module and ginseng Digital-to-analogue block corresponds to programming language (C language；C Plus Plus；JAVA language；Other language) a class, have clearly and unique Definition, program structure is clear, wherein mainstream signal reads in module by agricultural equipment working procedure, at all function modules Reason, is finally exported by external device communication module, controls external equipment and automated agricultural machine equipment moving；

5. the purposes and function of a kind of function module of agricultural equipment automatic control system software product include：Display and Operation；System operation management；Automatic control system program is read in；Decoding；Coordinate system is set；Automated agricultural machine equipment tool is mended It repays；Interpolation；Hand feed；Interpolator/manual switching；Coordinate transform；Automated agricultural machine equipment bed body error compensation；Automate agriculture The transmission matching of machine equipment bed body；PLC is controlled；Fieldbus drives；

6. a kind of function of the data cable module of agricultural equipment automatic control system software product includes：Agricultural equipment Working procedure information；System operatio order；System information；Agricultural equipment working procedure section；PLC control statements；Motion control refers to Enable section；Coordinate system is set；Interpolation director data；Interpolation position；Hand feed position；Interpolation/hand-held block position；Coordinate transform Coordinate shaft position；Error compensation coordinate；Servo instruction position；Digital output port；Digital quantity input port：Automated agricultural machine Equipment operation panel；

7. a kind of parameter type of the parameter module of agricultural equipment automatic control system software product includes：Working region Coordinate system sets class；Automated agricultural machine equipment availability implementing procedure manages class；Interpolation class；Coordinate transform class；Reference axis class；Bus Communication class；

8. a kind of agricultural equipment automatic control system software product be characterized in feature 1. to feature 7. in any one feature Or the feature of arbitrary various features combination；

(22) a kind of agricultural equipment automatic control system software product is characterized in that including：System data

(23) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The system data of system software product processed includes：The numbers such as constant, data cable, configuration parameter, system information, system operatio order According to being for the data exchange element between function module, used for related function module；For system command and working condition Class definition is enumerated in constant use；Eclipse tools provide system data establishment and management environment；System data is automation control System provides data type；

(24) a kind of agricultural equipment automatic control system software product is characterized in that including：System data includes：Constant；Institute Constant is stated to provide consistent compiling parameter for automatic control system program, system operation command code, system mode code, be Working method of uniting code, system configuration code, fixed numbers, enhancing program readability, are easily changed；

(25) a kind of agricultural equipment automatic control system software product is characterized in that including：The constant of system data

(26) a kind of agricultural equipment automatic control system software product is characterized in that including：The type of the constant of system data Purposes is characterized in that including：

1. system configuration parameter；The parameter is compiled for program and the required fixed constant of operation, such as：System control week Phase, the system maximum control number of axle, maximum tool compensation number etc.；

2. working state of system code；The code represents the operating status of function module；

3. system operation command code；The code represents the system operation order that system operation management module is sent out；

4. system operating mode code；The code represents the system operating mode life that system man machine operation interface module is sent out It enables；

5. fixed numbers；The numerical value provides fixed constant for mathematical operation formula；

6.) a kind of type Use of the constant of the system data of agricultural equipment automatic control system software product is characterized in spy Sign 1. to feature 5. in any one feature or arbitrary various features combination feature；

(27) a kind of agricultural equipment automatic control system software product is characterized in that including：System data includes：Parameter；

(28) a kind of agricultural equipment automatic control system software product is characterized in that including：The feature of the parameter of system data Including：By parameter setting, agricultural equipment automatic control system user makes agricultural equipment automatic control system software product Function match with automated agricultural machine equipment and the automated agricultural machine equipment course of work；Parameter preserves in memory, makes It can be inputted, shown with the file manager of computer operating system, edited, changed and management parameters；

(29) a kind of agricultural equipment automatic control system software product is characterized in that including：The parameter of system data includes： Systematic parameter, automated agricultural machine device parameter, automated agricultural machine equipment parameters, various harvesting parameters, various site preparations Cultivated land job parameter, various job parameters of transplanting seedlings, various weeding job parameters, various fertilising operation parameters, various spray drug operations Parameter, various seeding operation parameters, various picking job parameters, various hauling operation parameters；Agriculture, woods crop management operation ginseng Number, other parameters；

(30) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The systematic parameter of the parameter of the system data of system software product processed, by the basic parameter of system parameter setting system operation, It calculates and uses for internal system, such as：Interpolation cycle, largest motion acceleration, maximum movement speed value, external device communication number According to frame format etc.；

(31) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The automated agricultural machine device parameter of the system data of system software product processed makes a kind of agricultural machinery by automated agricultural machine device parameter Device automation control system software product and automated agricultural machine functions of the equipments, structure, feeding transmission, servomechanism installation, servo electricity Machine, fieldbus, external equipment and ancillary equipment correctly match；

(32) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The automated agricultural machine equipment parameters of the parameter of the system data of system software product processed include：Tool parameters and coordinate system ginseng Number；The tool parameters are used to preserving and providing tool length and radius compensation needed for the automated agricultural machine equipment course of work Data；The coordinate system parameters set number for providing working region coordinate system needed for the automated agricultural machine equipment course of work According to；

(33) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The data cable of the system data of the management program of system software product processed；It is handed over for data to be connected and completed between function module The variable changed；

(34) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The constant of the system data of system software product processed includes：(CMD) class is enumerated in system operatio order；The system operatio order piece It lifts (CMD) class and is used for the operational order code that system operation management module is sent to system control module, start agricultural equipment work Make program decoding, start the operations such as interpolation；

(35) a kind of agricultural equipment automatic control system software product is characterized in that including：The constant of system data includes： Computational constant class：The computational constant class is used to provide constant fixed numbers for system-computed, to improve the readability of program；

(36) a kind of agricultural equipment automatic control system software product is characterized in that including：The constant of system data includes： System operating mode enumerates class, and the system operating mode is enumerated class and sent out for system operation management module to system control module Mode of operation command code is sent, such as：Automated manner, manual mode, file (parameter) edit mode；

(37) a kind of agricultural equipment automatic control system software product is characterized in that including：The constant of system data includes： Module working condition enumerates class；The module working condition enumerates class and sends work to system operation management module for control module Make state code, such as：Ready, operation, end etc.；

(38) a kind of agricultural equipment automatic control system software product is characterized in that including：The constant of system data includes： System configuration constant class；The system configuration constant class is used for the control journey for agricultural equipment automatic control system software product Sequence provides compiling constant, the dimension including system aray variable, system controlling cycle etc.；

(39) a kind of agricultural equipment automatic control system software product is characterized in that including：System data includes：Variable class Type defines；The types of variables is defined as system control module and provides unified types of variables definition, can be for multiple control moulds Block uses；

(40) a kind of agricultural equipment automatic control system software product is characterized in that including：The types of variables of system data is determined Justice includes：Decode word class；The decoding word class is the dtd--data type definition of decoder word variable；

(41) a kind of agricultural equipment automatic control system software product is characterized in that including：The types of variables of system data is determined Justice includes：Preparatory function class：The data type of the decoding preparatory function can inserting according to agricultural equipment automatic control system Mend function command definition；

(42) a kind of agricultural equipment automatic control system software product is characterized in that including：The types of variables of system data is determined Justice includes：Assist function class；The data type of the decoding auxiliary function, can refer to according to the auxiliary function of automatic control system Enable definition；

(43) a kind of agricultural equipment automatic control system software product is characterized in that including：The types of variables of system data is determined Justice includes：Position command class；The position command data type that the decoder uses can be automated according to a kind of agricultural equipment and be controlled The position command definition of the program of system software product processed, controls relevant instruction code numerical value to be stored in position with coordinate position It puts in the corresponding element of order structure, forms subsequent control command；

(44) a kind of agricultural equipment automatic control system software product is characterized in that including：The parameter packet of the system data It includes：Control parameter and running parameter；

(45) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control The control parameter of the parameter of the system data of system software product processed is characterized in that making automatic control system by control parameter It is set with automated agricultural machine functions of the equipments, structure, feeding transmission, servo programe, servo motor, fieldbus, external equipment auxiliary Standby correct matching；Using an automation control platform, the automated agricultural machine of multiple types and specification can easily be controlled to set It is standby；

(46) a kind of agricultural equipment automatic control system software product is characterized in that including：The control of the parameter of system data Parameter includes：Feed shaft parameter class, the feed shaft parameter is for control system and the matching of automated agricultural machine equipment feed shaft And error compensation；

(47) a kind of agricultural equipment automatic control system software product is characterized in that including：The control of the parameter of system data Parameter includes：External device communication parameter class；The external device communication parameter is used for a kind of agricultural equipment automation control system Software product program of uniting and the communication configuration of external equipment fieldbus；

(48) a kind of agricultural equipment automatic control system software product is characterized in that including：The control of the parameter of system data Parameter includes：Decode parameter class；The decoding parameter provides parameter for decoder；

(49) a kind of agricultural equipment automatic control system software product is characterized in that including：The control of the parameter of system data Parameter includes：Interpolation parameters class；The interpolation parameters be with the relevant parameter of automated agricultural machine equipment moving speed control, be slotting It mends movement and hand feed campaign provides speed control parameter；

(50) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Reference axis position class；

(51) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：PLC control statement classes；The output data cable of the decoder module includes agricultural equipment automatic control system software The auxiliary function control instruction of the program segment of product；

(52) a kind of agricultural equipment automatic control system software product is characterized in that including：The control of the parameter of system data Parameter includes：Coordinate conversion parameter class；The coordinate conversion parameter provides automated agricultural machine device structure for coordinate transformation module The parameters such as type and structure size；

(53) a kind of agricultural equipment automatic control system software product is characterized in that including：The work of the parameter of system data Parameter includes：Working region coordinate system arrange parameter class；The working region coordinate system arrange parameter supplies coordinate system setup module It uses；

(54) a kind of agricultural equipment automatic control system software product is characterized in that including：The work of the parameter of system data Parameter includes：Tool parameters class；The tool parameters are used for tool compensation module；

(55) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable of system data is The combination of various control variables in control system；For the data connection between function module, make agricultural equipment automation control System program is clear in structure, and the relationship of data flow and control module is clear and definite；

(56) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Reference axis position class；The reference axis position data cable includes the number for each coordinates of motion position for representing agricultural equipment Group variable, uses for other data cable classes as unified external elements；

(57) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Error compensation position class；The output data cable of the error compensation module, data cable is used as inner element；

(58) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Motion control instruction section class；The output data cable of the decoder module includes a kind of agricultural equipment automation control system The motion control instruction of the program segment of system software product；

(59) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Servo instruction position class, reference axis position class, coordinate system setting class, hand feed position class, interpolation/hand feed switching Position class；Interpolation position class；

(60) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Interpolation director data class；It is described by coordinate system setting and tool compensation treated interpolation director data；

(61) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Digital quantity input port class；The output data cable of the external equipment fieldbus communications module represents system digits amount The state of input port；

(62) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Digital output port class；The digital output data cable of the PLC module, passes through external equipment field bus communication The state of module control system output port：

(63) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Agricultural equipment working procedure section class；

(64) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Agricultural equipment working procedure info class；The output data cable of the man machine operation interface module provides agricultural equipment work Program information；

(65) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Automated agricultural machine equipment operation panel class；The output data cable of the PLC module, by external equipment bus from system Input port reads in automated agricultural machine equipment operation button state；

(66) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Actions menu control key class；The output data cable of the man machine operation interface module sends out the operation control key state of display screen Give system operation management module；

(67) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：System information class；The function module is by system information data cable to system operation management module and display operation mould Block sends working condition；

(68) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：System operatio order class；The operation order that the system operation management module is sent out to each control module, the fortune of control system Row；

(69) a kind of agricultural equipment automatic control system software product is characterized in that including：The data cable packet of system data It includes：Coordinate transform reference axis position class；The output data cable of the coordinate transformation module, the seat after coordinate transform calculates Parameter position；

(70) a kind of agricultural equipment automatic control system software product is characterized in that including：The working procedure packet of agricultural equipment It includes：The character set of NC programming code standard, F instruction set, S instruction set, T instruction set, G instruction set, M instruction set, self-defined generation Code；

(71) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control System software product processed acts for example according to the movement of agricultural equipment working procedure auto-control agricultural equipment and miscellaneous function Main shaft is opened/is stopped；Agricultural equipment working procedure is made of character and digital code；The movement velocity of agricultural equipment reference axis, position It puts and miscellaneous function action is all by unique corresponding character or digital code；

(72) a kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment working procedure is with text This document is stored in the file storage medium of computer (PC machine)；

(73) a kind of agricultural equipment automatic control system software product is characterized in that including：Agricultural equipment working procedure is located in advance Manage task module；The agricultural equipment working procedure preprocessing tasks module is characterized in that including：Agricultural equipment working procedure Submodule is read in instruction submodule, agricultural equipment working procedure；Decoder submodule；Coordinate system sets submodule；Automation Agricultural equipment tool compensation submodule；

(74) a kind of agricultural equipment automatic control system software product is characterized in that including：Motion control task module；Institute Motion control task module is stated to include：Interpolator submodule；Hand feed submodule；Interpolator/manual switching submodule；Coordinate Transformation submodule；Automated agricultural machine equipment error compensates submodule；Automated agricultural machine equipment bed body is driven matched sub-block (journey Sequence)；

(75) a kind of agricultural equipment automatic control system software product is characterized in that including：A kind of agricultural equipment automation control System software product processed is made of major control data stream process task, system operatio and operation control process task；The master control Data Stream Processing task processed, by decoder, by a kind of agricultural equipment of agricultural equipment automatic control system software product Working procedure is converted into the control action of automated agricultural machine equipment；The motion control data stream is inclined by operating area coordinate Shifting, tool compensation, interpolation, coordinate transform, the compensation of automated agricultural machine equipment error, automated agricultural machine equipment transmission matching module, Generate reference axis motion control data；Hand feed module is used for the manual operation of automated agricultural machine equipment feed shaft, generates hand Dynamic feeding control data；External device communication module realizes that a kind of hardware of agricultural equipment automatic control system drives with servo Dynamic, main shaft drives, the data of the ancillary equipment of automated agricultural machine equipment communication and control；A kind of data flow control automation Agricultural equipment movement locus, for generating the movement of the reference axis of automation agricultural equipment；Another data flow control is automatic The miscellaneous function such as main shaft for changing agricultural equipment is opened/is stopped, replaces the actions such as agricultural equipment power tool；

(76) a kind of agricultural equipment automatic control system software product is characterized in any one in feature (1) to feature (75) Feature or the feature of arbitrary various features combination.

5. a kind of agricultural equipment automatic control system and product according to claim 1, it is characterised in that including：Right will A kind of agricultural equipment automatic control system software product described in 4 is asked to be characterized in arbitrary in feature (1) to feature (75) A kind of feature or the feature of arbitrary various features combination.

6. a kind of agricultural equipment automatic control system hardware product is characterised by comprising：

(1) a kind of agricultural equipment automatic control system hardware product is characterized in that including：By various input modes, receive The various data informations of agricultural equipment automated job, decode by automatic control device, then are calculated, handled, operation, Then the component of each reference axis is sent to the driving circuit of each control shaft of agricultural equipment, by converting, amplifying driving servo Motor drives each axis movement of agricultural equipment, and carries out real time information feedback control, enables each reference axis of agricultural equipment accurately It is run according to required state；

(2) a kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of agricultural equipment automation control Device processed, a kind of driving device and a kind of electric logic control device；

(3) a kind of agricultural equipment automatic control system hardware product is characterized in that including：Automatic control device, driving device With electric logic control device interconnected by I/O interfaces；

(4) a kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of agricultural equipment automation control System hardware product processed is by CPU, memory, display, keyboard, programmable controller (PLC), driver, external apparatus interface Composition；

(5) a kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of agricultural equipment automation control Device processed；

(6) a kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of agricultural equipment automation control Device processed is characterized in that including：

1. a kind of agricultural equipment automatic control device is characterized in that including：A kind of agricultural equipment automatic control device uses PC machine (or microcomputer or computer or similar computer equipment) is realized；

2. a kind of agricultural equipment automatic control device is characterized in that including：Input unit, memory, controller, arithmetic unit, Output device；

3. a kind of agricultural equipment automatic control device is characterized in that including：：Input unit；The input unit includes：Key Disk controls medium, disk, string (or simultaneously) row communication mode etc.；The input unit fills for operating personnel to automation control Put input operational order；

4. a kind of agricultural equipment automatic control device is characterized in that including：Output device；The output device includes：Display Device；Display be used for displaing coordinate value parameter and instruction code, function code, agricultural equipment operating area or with agriculture, woods crop Graphical display；(such as coordinate value, working procedure, alarm signal)；

5. a kind of agricultural equipment automatic control device is characterized in that including：The I/O interfaces of input/output device；It is described defeated Enter/the I/O interfaces of output device are used for the output of feed shaft control；It is exported for the control signal of manipulator；Become for main shaft The output of the control signal of speed；For the output of tool device or tool rack control signal；For feeding the input of feedback signal； For the output of signal etc. in place of tool rack manipulator；

6. a kind of agricultural equipment automatic control device is characterized in that including：The port of input/output device；It is described defeated Enter/port the contacting between automatic control device and other communication equipments of output device and to transmit agricultural equipment automatic It is turned into the working procedure of industry, while also meets the requirement of digital control (DNC) and flexibility operating system (FMS)；

7. a kind of agricultural equipment automatic control device is characterized in that including：A kind of meter of agricultural equipment automatic control device The computer system that calculation machine plate is made of high-speed CPU or the distributed system being made of multi -CPU；Mainly undertake a kind of agricultural equipment Basic control and decoding, interpolation operation and the speed pretreatment of user program, feedback control, the output control of automatic control device Tasks, generation position and the speed commands and ancillary control function information etc. such as system；

8. a kind of agricultural equipment automatic control device is characterized in that including：

A kind of agricultural equipment automatic control devices of A have input and the editting function for undertaking agricultural equipment working procedure；

A kind of agricultural equipment automatic control devices of B have the function of the instruction code that can identify and run a variety of International standardizations；

A kind of agricultural equipment automatic control devices of C have high performance feeding control function can be provided；

A kind of agricultural equipment automatic control devices of D have the function of human-computer interaction function；

A kind of agricultural equipment automatic control devices of E have can carry out multi-computer communication and automated agricultural machine equipment availability state communication Function；

A kind of agricultural equipment automatic control devices of F have certain fault diagnosis, feedback control function；

A kind of agricultural equipment automatic control devices of G have the function of to control the number of axle and number of motion axes, preparatory function (G functions), insert Function, spindle-speed function, compensation function, feed function, fixed cycles function, miscellaneous function (M codes), character graphics is mended to show Show function；

A kind of agricultural equipment automatic control devices of H are characterized in any one feature or arbitrary a variety of spies in feature A to feature G Levy the feature of combination；

8. a kind of agricultural equipment automatic control device is characterised by comprising：

A kind of agricultural equipment automatic control devices of A are characterized in that including：A kind of agricultural equipment automatic control device is one Kind single microprocessor hardware configuration；

A kind of agricultural equipment automatic control devices of B are characterized in that including：A kind of single microprocessor automatic control device is With a CPU (central processing unit) for core, CPU is connected by bus with memory and various interfaces, takes centralized Control, point When the working method that handles realize automatic control device various functions, the CPU to input through keyboard and CRT display processings, carry out The processing in real time such as decoding, tool compensation calculating and interpolation；

A kind of agricultural equipment automatic control devices of C are characterized in that including：A kind of agricultural equipment automatic control device is one Kind multimicroprocessor hardware configuration；

A kind of agricultural equipment automatic control devices of D are characterized in that including：A kind of multimicroprocessor automatic control device is Automatic control device includes two or more CPU, i.e. certain functions in agricultural equipment automatic control system Module itself band CPU；

A kind of agricultural equipment automatic control devices of E are characterized in that including：A kind of agricultural equipment automatic control device includes Microprocessor, memory, bus, interface etc.；

A kind of agricultural equipment automatic control devices of F are characterized in that including：A kind of agricultural equipment automatic control device connects Mouth includes：I/O interfaces, serial line interface, CRT/MDI interfaces, control unit component and interface circuit, as position control unit, can Programmable controller, Spindle control unit and other option interfaces etc.；

A kind of agricultural equipment automatic control devices of G are characterized in that including：Between automatic control device and agricultural equipment Interface includes the connection circuit between drive control device and measuring device, and the information of transmission is automatic control device and servo Control information between unit, servo motor, position detection and velocity measuring, they belong to digital control, SERVO CONTROL and inspection Observing and controlling system；

A kind of agricultural equipment automatic control devices of H are characterized in that including：The power supply of automatic control device and protection circuit It is made of the power control circuit in automated agricultural machine equipment forceful electric power circuit, forceful electric power circuit is by power transformer, relay, contact Device, protection switch, fuse, etc. be formed by connecting, be driving spindle motor, stand-by motor, electromagnet, clutch constant power perform Power elements；Forceful electric power circuit cannot be directly connected to the control circuit or weak circuit to work under low pressure, pass through intermediate relay, heat The conversions such as protector, control switch；

A kind of agricultural equipment automatic control devices of I are characterized in that including：The ON/OFF signal and code of automatic control device Connection circuit is automatic control device and agricultural equipment reference point, limiting, panel-switch etc. and the output of some miscellaneous functions Control the signal of connection；When the element of agricultural equipment is not connected to PLC, these signals are in automatic control device and agricultural equipment Between directly transmit, when agricultural equipment element connect PLC when, in addition to high speed signal, pass through PLC input/output；

A kind of agricultural equipment automatic control devices of J are characterized in that including：Automatic control device is exchanged with agricultural equipment Signal includes：Switching signal, analog signal, pulse signal, these signals by interface carry out conversion process just can with it is automatic Change control device connection；

A kind of agricultural equipment automatic control devices of K are characterized in that including：The task of the interface circuit of automatic control device Mainly include：

A level conversions, the signal of automatic control device is Transistor-Transistor Logic level, and controls agricultural equipment and the electricity from agricultural equipment Signal level is not Transistor-Transistor Logic level, therefore to carry out level conversion, according to heavy duty situation, carries out power amplification：

B A/D, D/A are converted, and the microprocessor of automatic control device can only handle digital quantity and the control of analog quantity is made With D/A (D/A) converter, analog input to automatic control device is used into analog/digital (A/D) converter；

C prevents noise from causing malfunction；Interference information outside blocking enters computer, will be certainly with photoelectrical coupler or relay Signal between dynamicization control device and agricultural equipment is isolated on electric appliance；

A kind of agricultural equipment automatic control devices of L are characterized in any one feature or arbitrary a variety of spies in feature A to feature K Levy the feature of combination；

9. a kind of agricultural equipment automatic control device is characterised by comprising：

A kind of agricultural equipment automatic control devices of A are characterized in that including：PLC module is automatic control device realization sequence The module of control；The effect of PLC module：Receive each travel switch on operation panel, agricultural equipment, sensor, knob, What relay and Spindle control, tool storage room in heavy current cabinet controlled has OFF signal, and control corresponding electric appliance is removed in output after processing The operation of part；

A kind of agricultural equipment automatic control devices of B are characterized in that including：Medium Dependent Interface (or manual data input) is by certainly Keyboard operation on dynamicization agricultural equipment control panel；The signal by lower key is arrived in the microprocessor scanning of automatic control device When, data are sent to shift register, the output of shift register checks that, if button is effective, button data is controlling through alarm Under the action of gating signal, chosen device, shift register, data/address bus are sent into RAM and are stored, if button invalid data is not It is sent into RAM；

A kind of agricultural equipment automatic control devices of C are characterized in that including：Position control module；The position control module is The important component of feed servo-system is when realizing TRAJECTORY CONTROL, and automatic control device is connect with servo drive system Interface module；Each feed shaft corresponds to a set of positioner；Positioner is controlled under the instruction of automatic control device Electric appliance processed drives distance as defined in the speed movement of agricultural equipment as required, and axis control is to realize each axis movement and positional precision control When making and be multi-shaft interlocked, it is desirable that each shifting axle has good cooperation；

A kind of agricultural equipment automatic control devices of D are characterized in that including：Automatic control system management module；It is described automatic Networked control systems management module is used to implement management and the entire required function of the automatic control system course of work of tissue；Such as System initialization, interrupt management, bus ruling, system fault identification and processing；

A kind of agricultural equipment automatic control devices of E are characterized in that including：Interpolation module；The interpolation module completion decoding, Pretreatment before the interpolations such as tool compensation calculates, coordinate displacement amount calculates and feed speed is handled；Then interpolation calculating is carried out again, Position specified rate is provided for each axis of agricultural equipment；

A kind of agricultural equipment automatic control devices of F are characterized in that including：Position control module is characterized in that including interpolation Coordinate position set-point afterwards is compared with the actual value that position detector measures, and is carried out automatic deceleration, reference point, is watched The monitoring of dress system hysteresis and drift compensation finally obtain the analog voltage of speed control, remove driving feeding motor；

A kind of agricultural equipment automatic control devices of G are characterized in that including：PLC module；The PLC module is characterized in that wrapping It includes：Miscellaneous function and the signal of agricultural equipment in agricultural equipment work make logical process in PLC module, realize each function with Connection between mode of operation, the opening/stop of agricultural machinery electrical equipment, tool exchange, the counting of the duration of runs etc.；

A kind of agricultural equipment automatic control devices of H are characterized in that including：Memory module；The memory module refers to storage The main memory of program and data is the shared memory of data transmission between function module；

A kind of agricultural equipment automatic control devices of I are characterized in that including：Microprocessor；The microprocessor by arithmetic unit with Controller forms, and completes control and evaluation work；

A kind of agricultural equipment automatic control devices of J are characterized in that including：The control of the controller of automatic control device is appointed Be engaged in be：That is taken out successively from program storage instructs, is interpreted, and execution is sent out in order to automatic control device each section The control signal of operation, is carried out instruction, and receives the feedback signal of execution unit return, and controller is according in program Command information and feedback information, determine next step command operation, the task of arithmetic unit is agricultural equipment automated job work Make the decoding of program, tool compensation calculates, position control calculates and the calculating and logical operation of other data；

A kind of agricultural equipment automatic control devices of K are characterized in that including：System bus；The system bus is by microprocessor The relatively independent device such as device, memory and input/output interface or functional component connect, and transmit the public logical of information Road, including controlling bus, address bus and data/address bus；

A kind of agricultural equipment automatic control devices of L are characterized in that：Show card module；The display card module reception comes from The control command and display data of CPU after being modulated with the scanning signal of CRT, generates the vision signal needed for CRT monitor, Required picture is generated on CRT；

A kind of agricultural equipment automatic control devices of M are characterized in any one feature or arbitrary a variety of spies in feature A to feature L Levy the feature of combination；

10. a kind of agricultural equipment automatic control device is characterised by comprising：

A kind of agricultural equipment automatic control devices of A are characterized in that including：Memory；The memory includes read-only memory (ROM)；Read-only memory (ROM) the storage system program；

A kind of agricultural equipment automatic control devices of B are characterized in that including：Random access memory (RAM)；The random access memory (RAM) intermediate result of operation, the data that need to be shown, running state, flag information are stored；

A kind of agricultural equipment automatic control devices of C are characterized in that including：CMOS ROM or magnetic bubble memory；The CMOS ROM or magnetic bubble memory storage agricultural equipment automated job working procedure, agricultural equipment parameter, tool parameters；

A kind of agricultural equipment automatic control devices of D are characterized in that including：Position control unit；The position control unit pair The coordinate shaft position of the feed motion of automated agricultural machine equipment is controlled (including position and speed control), the speed to main shaft Control controls tool storage room position；

A kind of agricultural equipment automatic control devices of E are characterized in that including：Man-machine interface part, motion control portion, I/O controls System or programmable controller (PLC), the storage of agricultural equipment working procedure, input/output interface, data communication interface etc.；

A kind of agricultural equipment automatic control devices of F are characterized in that including：Automatic control device is a kind of multimicroprocessor The automatic control device of structure or single microprocessor structure；

A kind of agricultural equipment automatic control devices of G are characterized in that including：Multiple microprocessor structure automatic control device is More sampling module structures have flexibility and scalability, compact-sized；

A kind of agricultural equipment automatic control devices of H are characterized in that including：The work(of the automatic control device of multimicroprocessor Energy module includes：Automatic control system management module, automatic control system interpolation module, PLC (programmable controller) mould Block, position control module, Spindle control module, operation panel control and display module, main memory module；

A kind of agricultural equipment automatic control devices of I are characterized in any one feature or arbitrary a variety of spies in feature A to feature H Levy the feature of combination；

A kind of agricultural equipment automatic control device is characterized in that including：Automatic control device receives the letter of input medium Breath, and will be identified, and stored with code, operation, corresponding command pulse is exported to drive servo-drive system, and then controls agricultural machinery Device action；

A kind of agricultural equipment automatic control device is characterized in that including：Automatic control device is that agricultural equipment is carried out Control, and the dedicated computer for the work operations needed for area that fulfil assignment；It receive digitized operating area pattern (or/ With operating area agriculture, woods crop pattern) and the agricultural equipment work information such as technique, carry out interpolation fortune according to certain mathematical model It calculates, with operation result in real time each coordinates of motion of agricultural equipment is carried out with speed and position control, is fulfiled assignment needed for region Operation；

A kind of agricultural equipment automatic control device is characterized in that including：A kind of agricultural equipment automatic control device is one The dedicated computer of kind or similar computer installation or PC machine or microcomputer；

A kind of agricultural equipment automatic control device is characterized in that including：A kind of spy of agricultural equipment automatic control device Sign is 1. feature arrives featureIn any one feature or arbitrary various features combination feature；

A kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of agricultural equipment automation control Device is characterized in 1. feature arrives featureIn any one feature or arbitrary various features combination feature；

(7) a kind of agricultural equipment automatic control system hardware product is characterised by comprising：A kind of driving device；

(8) a kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of feature of driving device exists In including：

1. a kind of driving device is characterized in that including：Main shaft drives work(device and feed drive unit；Driving device is by driving electricity Road and driving motor composition, and on agricultural equipment mechanical transmission component composition automated agricultural machine equipment main transmission and Feeding transmission system；

2. a kind of driving device is characterized in that including：The main shaft driving device of driving device receives the steering from PLC and turns Speed instruction drives spindle motor rotation after power amplification；

3. a kind of driving device is characterized in that including：The feed drive unit of driving device receives certainly in each interpolation cycle The displacement commands of dynamicization control device drive feed motor rotation after power amplification, while complete speed control and anti- Present control function；

4. a kind of driving device is characterized in that including：Driving device drives to be watched with control object including stepping motor, direct current Take motor, AC servomotor；The driving device includes：Open loop driving device, semiclosed loop driving device, close-loop driven Device；

5. a kind of driving device is characterized in that：The feed servo-system of driving device receives from automatic control system to every The speed command that a coordinates of motion axis provides respectively, through speed and electric current (torque) adjuster output drive signal driving servo electricity Machine rotates；Realize each reference axis movement of automated agricultural machine equipment；Receive feedback speed signal simultaneously and implement velocity close-loop control；From Dynamicization agricultural equipment feed servo-system is communicated by PLC with automatic control system, is notified to current working condition and is received certainly The control of dynamic networked control systems；

6. a kind of driving device is characterized in that including：The tachometric survey of driving device is using the velometer in motor come complete Into；Motor actual speed is matched into voltage value and sends servo drive system back to as feedback speed signal by velometer, with instruction Velocity voltage value compares, so as to fulfill the accurate control of speed；

7. a kind of driving device is characterized in that including：The position detector of driving device is to each reference axis of automated agricultural machine equipment Physical location in operation carries out direct or indirect measurement；Measured value is fed back into automatic control system and and command bits Phase shift is compared until reference axis reaches command bits position, so as to fulfill the accurate control to position；

8. a kind of driving device is characterized in that including：Include between automatic control system and the electrical equipment of driving device： On/off signal and code signal connection circuit are the input/output control signals that automatic control system is transmitted to driving device；

9. a kind of driving device is characterized in that including：Velocity sensor is set on the motor of driving device, and automated agricultural machine is set Set on standby each device various information (such as temperature, pressure, gravity, position, humidity, other) sensor, speed servo Setting load device in drive system；It is connected with each other between speed drive and motor by power cord, electricity is set on power cord Stream (or/and voltage) sensor；Automatic control system is connect with Speed Drive system signal；Electric current (or/and voltage) Sensor and velocity sensor are connect respectively with load device signal；Load device is connect with computer automation control system signal； Various information sensors are connect with automatic control system signal；Various information sensors obtain the automation each dress of agricultural equipment Put the actual information signal of middle sliding block；Electric current (or/and voltage) sensor obtains electric current (or/and voltage) signal, velocity pick-up Device obtains speed signal；Electric current (or/and voltage) sensor and velocity sensor respectively by detection information signal, current signal and Location/velocity signal is input in load device and carries out in corresponding calculator, and each of automated agricultural machine equipment is obtained after calculating The actual loading torque (actual speed) of sliding block in device；The actual information signal and actual speed of various information sensor detections Signal feed back to respectively automatic control system carry out position, various information, speed complex controll；Pass through automation control system System obtains final control signal, and final control signal is come in and gone out to speed drive, is exported by speed drive To servo motor, the operation of final control signal is realized by servo motor；

10. a kind of driving device is characterized in that including：A kind of driving device is using the position of moving parts and speed as controlled quentity controlled variable Automatic control system；

A kind of driving device is characterized in that including：Position control unit, speed unit, driving unit (motor), detection with it is anti- Present unit, mechanical operating parts；

A kind of driving device is characterized in that including：A kind of driving device is using mechanical location or angle as control object Automatic control system：It receives the feeding command signal for carrying out agricultural equipment automatic control device, transformed, adjusting and amplification After drive executive item, be converted into straight line or rotary motion；It is that agricultural equipment automatic control device and agricultural equipment contact ring Section；

A kind of driving device is characterized in that including：A kind of driving device is that a kind of Stellungsservosteuerung (or drive system or is watched Dress system or servo mechanism or servo unit)；

A kind of driving device is characterized in that including：The function that a kind of driving device has includes：The high work(of the positional precision Energy；The output quantity of the driving device can reappear the function of input quantity；The command pulse requirement agricultural equipment of the driving device The displacement of feeding and the command pulse between servo-drive system conversion agricultural equipment actual displacement amount through meeting displacement accuracy；Have The good function of stability, it is described that there is stronger antijamming capability, ensure feed speed uniformly, steadily；It is fast with dynamic response, it The response for seeking servo-drive system trace command information is fast；It is described that there is speed-regulating range width, low-speed big function；

A kind of driving device is characterized in that including：Driving device receives small electricity from agricultural equipment automatic control system Signal zooms into the drive signal of forceful electric power, to drive the executive component of servo-drive system (servo motor), by the change of automatically controlled signal Change, be converted into the angular displacement of motor output or the variation of angular speed, so as to drive each axis movement of agricultural equipment, realize to agricultural machinery The speed control of each axis movement of equipment and position control, reach agricultural equipment and are automatically completed required work；

A kind of driving device is characterized in that including：Driving device is by servo motor, drive signal control conversion circuit, electric power The groups such as electric drive amplification module, electric current conciliation unit, speed adjustment unit, position conciliation unit and corresponding detection device Into；

A kind of driving device is characterized in that including：Position ring；The position ring reconciles control module, position detection by position It is formed with feedback fraction；

A kind of driving device is characterized in that：Speed ring；The speed ring compares demodulator, velocity feedback and speed by speed Detection device (such as tachometer generator, photoelectric pulse coder) forms；

A kind of driving device is characterized in that including：Electric current loop；The electric current loop is by electric current demodulator, current feedback and electric current Detection forms；

A kind of driving device is characterized in that including：Various information rings；The various information are by various information mediation devices, various Information is fed back and various infomation detection links composition；

A kind of driving device is characterized in that including：Power electronics driving device；The power electronics driving device is believed by driving Number generation circuit and power amplifier composition；

A kind of driving device is characterized in that including：Drive control unit；The drive control unit, which will be fed, instruction morphing is The signal is converted into corresponding mechanical displacement by the signal form needed for executive component, executive component；

A kind of driving device is characterized in that including：Open loop servo system；The open loop servo system by drive control unit, Executive component and agricultural equipment composition；Agricultural equipment automatic control system sends out command pulse and is converted by driver circuit with putting Greatly, it is transmitted to stepper motor；As soon as stepper motor often receives a command pulse, an angle is rotated, then pass through gear pair and leading screw Pair of nut drives agricultural equipment movement；The frequency of command pulse determines the rotating speed of stepper motor, and then determines agricultural equipment The velocity of displacement of each device；The quantity of command pulse determines the angle of stepper motor rotation, and then determines that agricultural equipment respectively fills Put displacement；

A kind of driving device is characterized in that including：Closed loop (semiclosed loop) servo-drive system；Closed loop (semiclosed loop) servo-drive system It is made of executive component, drive control unit, agricultural equipment and feedback detecting element, comparing element；Feed back detecting element packet Include velocity feedback and position feedback, temperature feedback, humidity feedback, gravity feedback, pressure feedback, current feedback, Voltage Feedback, its Its information is fed back, and closed loop servo system is fed back after using various information feedback elements, the actual information of each axis of agricultural equipment is detected To comparing element, command signal and feedback signal are compared by comparing element, using the difference of the two as servo-drive system with With error, driven through drive control unit and executive component is controlled to drive agricultural equipment precise motion；

A kind of driving device is characterized in that including：Detection device；The detection device is used to detect displacement (displacement of the lines or angle Displacement) and speed, other information, feedback signal is sent to automatic control device, forms servo-drive system closed loop or semiclosed loop control System, makes each device of agricultural equipment by command path precise motion；

A kind of driving device is characterized in that including：Detection device is made of detecting element (sensor) and signal processing apparatus；

A kind of driving device is characterized in that including：Detection device includes：Rotary transformer, inductosyn, encoder, light Grid, magnetic grid, temperature sensor, humidity sensor, gravity sensor, pressure sensor, current sensor, voltage sensor, its Its information sensor, laser etc.；

A kind of driving device is characterized in that including：Detection device measurement method includes：It directly measures, measures indirectly, is digital Measurement, analog measurement, increment type measures, absolute type measures；

A kind of driving device is characterized in that including：Servo-drive system is a kind of electrohydraulic servo system；

A kind of driving device is characterized in that including：Driving device be a kind of electric servo-drive system (or step-servo system, Or DC servomechanism or/and AC servo)；

A kind of driving device is characterized in that including：Driving device is a kind of pulse, number relatively servo-drive system (or/and phase Compare servo-drive system or amplitude com parison servo-drive system or/and MPU Controlled All Digital Servo System)；

A kind of driving device is characterized in that：Driving device is the contact of agricultural equipment automatic control device and agricultural equipment Link；The control information that agricultural equipment automatic control device is sent out by servo drive system, is converted into the fortune of reference axis It is dynamic, complete the operation of program defined；

A kind of driving device is characterized in that：Driving device is the driving equipment with machinery for movement, and motor is right in order to control As using controller as core, using electric and electronic power converting means as executing agency；Executive component is used as with actuating motor, The electric signal received is converted into angular displacement or angular speed output on motor reel；

A kind of driving device is characterized in 1. feature arrives featureIn any one feature or arbitrary various features combination spy Sign；

A kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of driving device is characterized in spy 1. sign arrives featureIn any one feature or arbitrary various features combination feature；

(9) a kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of electric logic device；

(10) a kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of spy of electric logic device Sign is to include：

1. a kind of electric logic device characteristic is to include：Programmable control system (PLC)；

2. a kind of electric logic device characteristic is to include：Programmable control system (PLC) includes：CPU, memory, input are defeated Outgoing interface module, peripheral interface module and programmable device, expansion interface and expansion module；

3. a kind of electric logic device characteristic is to include：The CPU of programmable control system (PLC) is received and stored from programmable device The user program and data of input；The state or data of live input unit are received with scan mode, and is stored in image register Or in data register；Diagnose the syntax error in power supply and PLC internal circuits working condition and programming process；Enter in PLC After operating status, PLC reads user program one by one from memory, the task as defined in instruction, generates corresponding control signal, Remove to open and close related control gate circuit, complete the tasks such as logic or arithmetical operation specified in user program, realize output control or The functions such as data communication；

4. a kind of electric logic device characteristic is to include：Programmable control system (PLC) includes：System program；The system Program storage is to storage system working procedure (monitoring programme), modular applications function subprogram etc.；PLC technology system Unite (PLC) system program memory storing the functions such as various systematic parameters；

5. a kind of electric logic device characteristic is to include：Programmable control system (PLC) includes：User memory；The use Family memory is storing user program；

6. a kind of electric logic device characteristic is to include：Programmable control system (PLC) includes：Input/output (I/O) mould Block；Input/output (I/O) module is the connecting component between CPU and scene I/O devices or other external equipments, I/O moulds External input signal is transformed into CPU by block received signal or to be transformed into the output signal of CPU the control signals of needs Drive control object, it is ensured that system operation；

7. a kind of electric logic device characteristic is to include：Programmable control system (PLC) includes：Programmable device；The programmable device For the establishment of user program, logic, debugging detection and monitoring, the internal state and parameter of PLC are called and shown by keyboard； It is contacted by communication port and CPU, completes human-computer dialogue connection；

8. a kind of electric logic device characteristic is to include：The memory of programmable controller for store perform logical operation, The user instruction of the specific functions such as sequential control, timing, calculating and arithmetical operation, and by digital or analog input and Output controls agricultural equipment or agricultural equipment work；

9. a kind of electric logic device characteristic is to include：What electric logic control device reception automatic control device was sent out opens Order is closed, completes agricultural equipment main shaft choosing speed, start and stop and direction controlling function, changes instrumental function, hydraulic pressure, air-cooled, pneumatic, lubrication System controls and other agricultural equipment miscellaneous functions；

10. a kind of electric logic device characteristic is to include：Electric logic device software (PLC application programs) is automatic for completing Change the control of agricultural equipment ancillary equipment；It is in automated agricultural machine equipment running process, according in automatic control system Each control switch of facial marker and automated agricultural machine equipment, detecting element, the state for running component, according to the control of program setting Logic processed is to lubricating, hydraulic pressure, the operation of changing tool device mechanism, cooling etc. control；

A kind of electric logic device characteristic is to include：Electric logic device is the electricity of automatic control system and agricultural equipment Equipment between gas equipment, automatic control device pass through the progress between electric logic device and measuring system and measurement sensor Connection；Connection circuit transmission is that information is controlled between automatic control system and position detection and data detection device；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) controls agricultural equipment circuit；Agriculture Machine equipment automatic control system controls the ancillary equipment of agricultural equipment by programmable controller (PLC)；It is programmable Controller (PLC) realizes the control to the ancillary equipment of agricultural equipment to the control of agricultural equipment peripheral circuit；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) receives agricultural equipment automatic control system Control signal and external feedback signal, result exported in the form of a signal by logical operation, processing；It is processed defeated Go out signal to export from the output module of programmable controller (PLC), a part of signal is right by intermediate relay control contactor Each executing agency of control agricultural equipment performs action afterwards, so as to fulfill the control to agricultural equipment auxiliary body；It is processed defeated Go out signal to export from the output module of programmable controller (PLC), a part of signal is directly used in outside control agricultural equipment and sets It applies, such as；The equipment directly driven with low-tension supply；

A kind of electric logic device characteristic is to include：Each external equipment of agricultural equipment (using PLC controls) be by Programmable controller (PLC) controls signal to control all the way, each agricultural equipment external equipment (using PLC controls) It is corresponding all programmable controller (PLC) output address to be neutralized in programmable controller (PLC)；

A kind of electric logic device characteristic is to include：Control of the programmable controller (PLC) to agricultural equipment peripheral equipment, Be by output signal control device, facility action and receive external feedback signal, to monitor the state of these installations and facilities Come what is realized；Programmable controller (PLC) is believed in agricultural equipment circuit inside external signal and programmable controller (PLC) Number processing is corresponding；The address of each programmable controller (PLC) and agricultural equipment peripheral circuit are corresponding per signal all the way； Programmable controller (PLC) and the stitch that signal input circuit is a socket either some input interface, corresponding and agriculture Some element, switch, the knob of machine equipment circuit, while have the corresponding input address internal with programmable controller (PLC)；

A kind of electric logic device characteristic is to include：Each executive component or facility are by can outside agricultural equipment auxiliary device Programmable controller (PLC) control；Each output signal of programmable controller (PLC) corresponds to an output address；It can Programmable controller (PLC) each output address corresponds to the stitch of a socket or plug；Programmable controller (PLC) is each A stitch corresponds to the single line (being indicated with wire size) of agricultural equipment auxiliary device peripheral circuit；Programmable controller (PLC) Each wire size corresponds to (or some intermediary elements correspond to by intermediate links such as relay, contactors) agricultural equipment Auxiliary device equipment, element；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) is the device of a kind of " sequential control ", i.e., In automated agricultural machine equipment running process, with automatic control device inside and each travel switch of agricultural equipment, sensor, press The on-off model state of button, relay etc. is condition, and the start-stop of such as main shaft is changed according to prespecified logical order It is controlled to, the replacement of tool, hydraulic pressure, cooling, operation of lubricating system etc.；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) using typical computer configuation, Main to include CPU, RAM, ROM and input, output interface circuit etc., inside carries out data and instruction using bus structures Transmission；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) is as a system, and the system is by inputting Variable --- PLC --- output variable forms, the various signals that external various switching signals, analog signal, sensor detect As the input variable of PLC, external various signals are input to through PLC External input terminals in internal register, through in PLC Leading-out terminal is sent to after portion's logical operation or other various operations, processing, they are the output variables of PLC；By output variable pair Peripheral equipment carries out various controls；Input variable is transformed to output and become by PLC as an intermediate processor or converter Amount；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) includes：It is importation, control section, defeated Go out part；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) includes：Importation；The importation Such as button switch, limit switch are directly connected with PLC input terminals, and to generate input control signal, these signals come From the manual command on operation console；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) includes：Control section；Basis is performed repeatedly The practical control of automated agricultural machine equipment requires worked out user program, and generates various output control signals；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) includes：Output par, c：The output par, c Such as contactor, solenoid valve, they are directly connected with PLC leading-out terminals, to the action of auto-control agricultural equipment；

A kind of electric logic device characteristic is to include：The input processing of programmable controller (PLC)：PLC is with multiple scanning side Formula performs user program, and by the on off operating mode of all input terminals, (input is believed by geocoding order first before program is performed Number) read in input mapping register, then start to perform user program, in the process of implementation, even if input signal becomes Change, the content for inputting mapping register is also constant, and input is just re-read until the input processing stage of next scan period State；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) program controls：The stage is performed in program, PLC sequential scan user programs；The required information of program is often performed all to post inside input mapping register and other It is read in storage and participates in calculating, then include closing in output mapping register by implementing result write-in；

A kind of electric logic device characteristic is to include：The output processing of programmable controller (PLC)：When all instructions performs After, the state exported in mapping register is completely transferred in output latch register, forms the reality output of PLC simultaneously It is sent out including leading-out terminal；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) form includes：A kind of built in type PLC；One Kind self PLC；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) and the connecting mode of automated agricultural machine equipment Substantially it is external circuit coupling method, control instruction is sent out for I/O mouthfuls by agricultural equipment automatic control system, makes programmable control Device input terminal noncontacting switch break-make processed completes logic control of the programmable controller to agricultural equipment forceful electric power；Automated agricultural machine The controlled device of equipment drives main motor, switching value, servo motor of main shaft rotation etc.；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) input/output terminal and automated agricultural machine equipment Panel signal couples；

A kind of electric logic device characteristic is to include：Panel is connect with system using optical fiber, automated agricultural machine equipment control behaviour Make have button, rotary switch, band switch and indicator light etc. on panel, button, rotary switch and band switch are directly with that can compile The input terminal binding post of range controller is connected, and indicator light wiring is directly connected with PLC output end binding posts, and the bright of indicator light secretly takes Certainly in the on off state of corresponding PLC input terminals and the trapezoid figure program being solidificated in the ROM cards of PLC；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) output terminal and automated agricultural machine equipment forceful electric power Signal couples；

A kind of electric logic device characteristic is to include：Main work of the programmable controller (PLC) in automated agricultural machine equipment With being control strong power part, such as：Master control power supply, servo power supply, tool rack motor positive and inverse, main shaft fan, lubrication motor etc.；By It is very big in the electric current for flowing through forceful electric power circuit, all it is connected to protection relay in PLC output terminals；In each AC coil both sides simultaneously Join resistance-capacitance circuit to absorb the surge current due to being generated during coil break-make；In order to improve the reliability of motor operation, contacting Added with interlock protection contact in device coil circuit；The operation programed logic of each motor is solidificated in card, is automated Agricultural equipment operation panel switchs and the control of agricultural equipment automatic control system software；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) input terminal and automatic control device I/O The connection of mouth；

A kind of electric logic device characteristic is to include：The break-make of programmable controller (PLC) output terminal is led to by its input terminal What disconnected state and trapezoid figure program determined, automatic control device with coupling for programmable controller is directly controlled by Sofe Switch The break-make of PLC input terminals processed, to determine the state of PLC output terminals；I/O mouthfuls of automatic control device couples with PLC input terminals, From I/O mouthfuls of information flow direction analysis of automatic control device, two kinds of situations can be divided into：First, automatic control device is from I/O Mouth output order, control PLC complete corresponding action：Another kind is the on off state for detecting PLC input ports, and automation control fills The I/O mouths put are input signals, and automatic control device makes corresponding control according to the property of input signal；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) realizes the processing of M functions；The M instructions Mainly include M03 (main shaft rotates clockwise), M04 (spindle axis counterclockwise rotation), M05 (main shaft stopping), M06 (tool is changed in preparation) Deng；A portion is realized by automatic control system hardware and software in itself, and control will be automated by further including a part Device processed is combined to realize with PLC；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) realizes the processing of T functions；PLC realizes work Has the function of selection, when encountering comprising some tool coding when changing facility instruction, corresponding automatic control device I/O mouthfuls become Into high level, automatic control system by T code commands into after row decoding, gopher number and then control replace tool device into Row changes tool；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) realizes the processing of S functions；S functions are completed The rotating speed of main shaft is controlled, using code method and directly specified method represents the speed of main shaft；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) is to operation signal processing；PLC technology The signal that signal and automatic control device on device (PLC) reception operation panel transmit is with the fortune of auto-control control system Row；

A kind of electric logic device characteristic is to include：Control of the programmable controller (PLC) to main shaft；Control main shaft opens Stop, stop and rotating；

A kind of electric logic device characteristic is to include：Control of the programmable controller (PLC) to reference axis；Control reference axis Servo-drive and limit switch etc.；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) changes agricultural equipment the control of tool；It is real Now to the control of program change tool；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) cools down agricultural equipment, the control of lubrication；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) believes the switching value of automated agricultural machine equipment It number is controlled；

A kind of electric logic device characteristic is to include：Programmable controller (PLC) passes through the various switching values of agricultural equipment I/O mouthfuls of progress information exchanges；Due to I/O mouthfuls can input signal and output signal be converted into the defeated of multichannel by logic decoding circuit Go out signal, it can be achieved that the control of spindle motor, hydraulic pump and main shaft speed change etc.；Input port be subjected to lead limit switch pause, The signal that main shaft lock-out pulse, selection tool are answered；So as to fulfill the detection of various states, final realization automated agricultural machine equipment The control of various switching values；

A kind of electric logic device characteristic is to include：Under the action of a kind of additional electric impulse signal of stepper motor step by step Ground operates, and electric impulse signal is converted into the electromechanical compo of corresponding angular displacement；Its angular displacement and the number of pulse are strictly into just Than, it is synchronous with input in time, the quantity, frequency and machine winding power-up sequence of input pulse are controlled, obtains required turn The direction at angle, speed and rotation；When no pulse inputs, under the excitation of winding power supply, air-gap field makes rotor keep originally Location status；Using this principle, realize the feeding longitudinally, laterally during agricultural equipment work, obtain higher precision；

A kind of electric logic device characteristic is to include：Automatic control system carries out agricultural equipment axis system by PLC Start and stop, direction controlling；

A kind of electric logic device characteristic is to include：Programmable control system (PLC) and relay-contactor control system；

A kind of electric logic device is characterized in 1. feature arrives featureIn any one feature or arbitrary various features combination Feature；

A kind of agricultural equipment automatic control system hardware product is characterized in that including：A kind of feature of electric logic device It is 1. feature arrives featureIn any one feature or arbitrary various features combination feature；

(11) a kind of agricultural equipment automatic control system hardware product is characterized in any one in feature (1) to feature (10) Feature or the feature of arbitrary various features combination.

7. a kind of agricultural equipment automatic control system and product according to claim 1, it is characterised in that including：Right will A kind of agricultural equipment automatic control system hardware product described in 6 is asked to be characterized in any one in feature (1) to feature (11) Feature or the feature of arbitrary various features combination.

8. a kind of agricultural equipment automatic control system and product according to claim 1, it is characterised in that including：A kind of agriculture Machine equipment automatic control system and product are characterized in that claim 2 is automatic to a kind of agricultural equipment described in claim 7 Any one of networked control systems and product feature feature or the feature of arbitrary various features combination.